NDLI: Parallel multi-robots long distance teleoperation

Content Provider	IEEE Xplore Digital Library
Author	Kheddar, A. Tzafestas, C. Coiffet, P. Kotoku, T. Kawabata, S. Iwamoto, K. Tanie, K. Mazon, I. Laugier, C. Chellali, R.
Copyright Year	1997
Description	Author affiliation: Lab. de Robotique de Paris, CNRS, Velizy, France (Kheddar, A.)
Abstract	On October 10th 1996 and for the first time in teleoperation history, four robots of different kinematics and situated in different locations (respectively Poitiers, Grenoble and Nantes in France and Tsukuba in Japan) were teleoperated simultaneously (in parallel). The experiment was the first general one of a research cooperation programme named TWE (Telepresence World Experiment) linking seven research teams belonging to five countries. The task consisted in assembling a four pieces puzzle. All the robots had to perform the same task at the same time. In this paper, we discuss the preliminary results of this first trial experiment and problems encountered in achieving the matter. The master consists of a high-level abstraction interface based on virtual reality concepts. The operator performed the task within a simulated environment. Based on direct hand use, the operator assembled the puzzle in a natural manner. Bilateral transformations, from the operator to robot control and backwards, from the robot to operator, with time delay considerations, are presented.
Starting Page	1007
Ending Page	1012
File Size	1011667
Page Count	6
File Format	PDF
ISBN	0780341600
DOI	10.1109/ICAR.1997.620304
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1997-07-07
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Laboratories Robotic assembly Robot control Orbital robotics Delay effects Robot programming Surgery Internet Asynchronous transfer mode Mechanical engineering
Content Type	Text
Resource Type	Article

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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