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

Arnaud Lelevé (1) , Philippe Fraisse (2) , Pierre Dauchez (2)

1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEMAR - Artificial movement and gait restoration

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

Mots clés: Internet; mobile robots; transport protocols; real-time systems; manipulators; queueing theory; IP networks; LAN; delays; asynchronous digital links; transmission delays; asynchronous transmission; telerobotics; long distance teleoperation

Domaines: Automatique / Robotique

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⟩