Teleoperation through the Internet : Experimental Results with a Complex Manipulator

Arnaud Lelevé (1, 2, 3) , Philippe Fraisse (1) , Pierre Dauchez (1) , François Pierrot (4)

1 LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 ICTT - Interaction Collaborative, Teleformation, Teleactivites
3 LIESP - Laboratoire d'Informatique pour l'Entreprise et les Systèmes de Production
4 DEXTER - Robotique médicale et mécanismes parallèles

According to their research activities, some laboratories have to set up and share expensive full-scale experiments requiring the use of teleoperated robots. It is in this context that we have built a teleoperation structure designed to study the problems usually encountered in such experimentations, We have first built a generic simulation model that guided us in the realization of a real teleoperation platform using a terrestrial mobile manipulator. This paper summarizes the results of the simulations we performed and presents the first results we obtained with the real platform.

Mots clés: Robotics; Teleoperation

Domaines: Autre [cs.OH]; Automatique / Robotique

Arnaud Lelevé, Philippe Fraisse, Pierre Dauchez, François Pierrot. Teleoperation through the Internet : Experimental Results with a Complex Manipulator. ISR: International Symposium on Robotics, Oct 1999, Tokyo, Japan. ⟨hal-00189543⟩