A predictor for operator input for time-delayed teleoperation
In this paper we describe a method for bridging Internet time delays in a free motion type teleoperation scenario in an unmodeled remote environment with video feedback The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the round-trip communication delay The predictions are then used to control a remote robot Thus the operator can in effect observe the resulting motion of the remote robot with virtually no time-delay even in the presence of a delay on the physical communications channel We present results from a visually guided teleoperated line tracing experiment with 100 ms round-trip delays where we show that the proposed method makes a significant performance improvement for teleoperation with delays corresponding to intercontinental distances (c) 2010 Elsevier Ltd All rights reserved
teleoperation time delay human motion models