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Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1928/20228

Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation

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Title: Bilateral Teleoperation of Mobile Robot over Delayed Communication Network: Implementation
Author: Abdallah, Chaouki T.; Martinez-Palafox, Oscar; Lee, Dongjun; Spong, Mark W.; Lopez, I.
Subject(s): Communication channels
Communication networks
Communication system control
Abstract: In a previous paper we proposed a bilateral teleoperation framework of a wheeled mobile robot over communication channel with constant time delay. In this paper we present experimental results. Our goal is to illustrate and validate the properties of the proposed scheme as well as to present practical implementation issues and the adopted solutions. In particular, the bilaterally teleoperated system is passive and the system is stable in the presence of time delay. Internet has been used as the communication channel and a buffer has been implemented to maintain a constant time delay and to handle packet order.
Date: 2006-10-09
Publisher: IEEE
Citation: 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems: 4193-4198
Description: Digital Object Identifier: 10.1109/IROS.2006.281912
URI: http://hdl.handle.net/1928/20228
ISBN: 1-4244-0258-1

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