Abstract
Few works only deal with telerobotics of mobile manipulators via the Internet. This paper consists of a contribution in this research field and describes an Internet-based multi-agent telerobotic system of such robots.
The developed system provides the operator with a human/robot interface, accessible via the Internet, for remote control of mobile manipulators. This interface displays all sensors data and video images delivered by the eye-in-hand IP camera. In addition, the interface allows the operator to perform primitive tasks, either separately by the manipulator or by the mobile base, or in cooperation by both of them.
The proposed telerobotic system is implemented on the RobuTER/ULM mobile manipulator. The validity of the system is demonstrated through telerobotic experiments of four primitive tasks via the Internet over a long distance.
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Khiter, B., Hentout, A., Boutellaa, E., Benbouali, M.R., Bouzouia, B. (2012). Internet-Based Telerobotics of Mobile Manipulators: Application on RobuTER/ULM . In: Su, CY., Rakheja, S., Liu, H. (eds) Intelligent Robotics and Applications. ICIRA 2012. Lecture Notes in Computer Science(), vol 7507. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-33515-0_62
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DOI: https://doi.org/10.1007/978-3-642-33515-0_62
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