Telerobotics over ip networks: Towards a low-level real-time architecture

Arnaud Lelevé 1 Philippe Fraisse 2 Pierre Dauchez 2
2 DEMAR - Artificial movement and gait restoration
CRISAM - Inria Sophia Antipolis - Méditerranée , LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : Long distance teleoperation over asynchronous transmission links makes many classical teleoperation schemes unstable. The use of this kind of media involves varying transmission delays that may become prohibitive even at short distance. However, they are standardized, cheap and widespread over the planet. The paper presents our latest works on the improvement of teleoperation loops, by providing a low-level architecture which permits the use of classical teleoperation controls over asynchronous digital links
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Arnaud Lelevé, Philippe Fraisse, Pierre Dauchez. Telerobotics over ip networks: Towards a low-level real-time architecture. 2001 IEEE IROS, Oct 2001, Maui, Hawaii, United States. pp.643-648, ⟨10.1109/IROS.2001.976242⟩. ⟨hal-00189072⟩

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