Intercontinental cooperative telemanipulation between Germany and Japan

Peer, Angelika; Hirche, Sandra; Weber, Carolina; Krause, Ivo; Buss, Martin; Miossec, Sylvain; Evrard, Paul; Stasse, Olivier; Neo, Ee Sian; Kheddar, Abderrahmane; Yokoi, Kazuhito

doi:10.1109/iros.2008.4650934

Cited by 6 publications

(2 citation statements)

References 5 publications

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“…Hence, the round-trip time delay needs to be known, which poses a limitation compared to the original wave variable approach where the exact knowledge is not required. Recent telepresence experiments between Germany and Japan over the Internet, however, showed that the time delay even over this long-distance interconnection can be considered constant [20]. Additionally, the roundtrip time delay is rather simple to measure using time-stamps.…”

Section: L Ocal Computation Of Wave Variablesmentioning

confidence: 99%

Perceptual coding of haptic data in time-delayed teleoperation

Vittorias

Kammerl

Hirche

et al. 2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

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In telepresence and teleaction systems the haptic communication channel plays a central role. As it closes a global control loop any introduced communication delay possibly destabilizes the system and impairs the performance. The scattering theory is known to solve these stability issues by transmitting wave variables instead of haptic signals, i.e. force and velocity, over the communication channel. For stability and performance additionally high packet rates are required stressing the underlying network resources. Perceptual coding techniques of haptic signals, such as the Weberinspired deadband approach, are known to successfully reduce the packet rate on the haptic channel. However, as wave variables do not directly represent haptic information but a linear transformation of both signals, perceptual coding is not directly applicable anymore. In this paper, we present a novel control scheme as well as a modification of the deadband approach to take advantage of the stabilization ability of the wave variables while allowing perceptual coding on the communication channel. Simulation results and comparison with the wave variables architecture indicate improved data compression for same degree of transparency for purely stiff as well as free environments.The prefix tele origins from the Greek word "odh¡" meaning on remote distance. Telepresence and teleaction (TPTA) systems allow humans to experience and to operate in a remote or inaccessible environment. Applications are not limited to remote and even dangerous environments but also range from scaled operation (e.g. micro assembly) over safety critical applications all the way to minimally invasive surgery. To enable the human operator to immerse into the remote environment, multimodal sensory and command data needs to be communicated over a communication channel, see Figure 1 for a schematic overview of a TPTA system.As in TPTA systems haptic signal are sent bidirectionally, a global control loop is closed over the communication system. Communication time delay between the human operator (OP) and the teleoperator (TO) is often unavoidable and can put the system's stability at risk [1] or at least deteriorates the transparency. Transparency refers to the performance of the TPTA system and is provided if the human user cannot distinguish between direct and teleoperated interaction with the environment. Two main sources of latency in haptic data communication are identified, namely haptic signal processing time due to encoding/compression/decompression/decoding and transmission time * sensor force haptic feedback (TO) array communication time delay packet loss e.g. Internet commanded velocity communication network human system interface (HSI) teleoperator microfon feedback auditory environment feedback visual stereo camera head environment force Figure 1: Multimodal telepresence and teleaction system delay. For the sake of stability and transparency, both time delay components are desired to be as small as possible.For the signal processing part this means that ins...

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Section: L Ocal Computation Of Wave Variablesmentioning

confidence: 99%

Perceptual coding of haptic data in time-delayed teleoperation

Vittorias

Kammerl

Hirche

et al. 2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

View full text Add to dashboard Cite

show abstract

“…Many telerobotics research groups are rushing to explore this exciting avenue, but the communication model typically used is still that of pre-internet point-to-point networks. It is common for each teleoperation system to be programmed with the IP address of its remote partners, a practice with limited flexibility for locating users at multiple addresses [1][2][3]. Furthermore, there are no established protocols for locating remote robots or standard formats for exchanging telerobotic control data.…”

Section: Introductionmentioning

confidence: 99%

Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs

King

Hannaford

Kammerly³

et al. 2010

2010 IEEE Haptics Symposium

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In telepresence and telemanipulation systems, multimodal data is exchanged over a network allowing humans to experience and to operate in remote or inaccessible environments. To operate over the global Internet and connect to multiple telepresence systems, a flexible framework for initiating, handling and terminating Internetbased telerobotic sessions becomes necessary. In this work, we explore the use of standard Internet session and transport protocols in the context of telerobotic applications.Session Initiation Protocol (SIP) is widely used to handle multimedia teleconference sessions with audio, video or text, and provides many services advantageous for establishing connections between heterogeneous haptic interfaces and telerobotic systems. We apply the session paradigm to the creation and negotiation of haptic telepresence sessions and propose to extend this framework to work with the haptic modality. The notion of a "haptic codec" is introduced for transforming haptic data into a common format, applying data reduction or compression techniques and implementing teleoperation control architectures. The use of the Real-Time Transport Protocol (RTP) is explored for transport of teleoperation data. Finally, a prototype and demonstrator system is presented for evaluation of the proposed framework.

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Intercontinental cooperative telemanipulation between Germany and Japan

Peer

Hirche

Weber

et al. 2008

2008 IEEE/RSJ International Conference on Intelligent Robots and Systems

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The video shows an intercontinental cooperative telemanipulation task, whereby the operator site is located in Munich, Germany and the teleoperator site in Tsukuba, Japan. The human operator controls a remotely located teleoperator, which performs a task in the remote environment. Hereby the human operator is assisted by another person located at the remote site. The task consists in jointly grasping an object, moving it to a new position and finally releasing it, see Fig. 1. Fig. 1. Cooperative telemanipulation task: approach, grasp, lift, put down object gripper cameras for stereo view telemanipulator Fig. 2. Remote site: HRP-2 collaborating with a local humanThe concept of telemanipulation can be formulated as follows: A human operator interacts with a human-system interface and controls a remotely located telemanipulator. Visual, auditory and haptic information is exchanged between master and slave devices. In this experiment a forceposition control architecture has been implemented whereby forces are send from master to slave and positions from slave to master. Additional information is provided to control the robot's head and grippers. For visual feedback a video stream is transmitted to the operator side. Since master and slave are located at different continents one of the main challenges in this experiment is the huge time delay of the communication channel. Information is exchanged via UDP/IP with an approximate roundtrip time of about 280ms. This relative big time-delay requires the implementation of a high mass and damping factor at slave side that limits the bandwidth of the system significantly and thus ensures stability of the overall teleoperation sytem, see [1] for more details. head tracker head mounted display linear potentiometer haptic interface Fig. 3. Operator site: human operator and human-system-interface The remote site, see Fig. 2, is located in Tsukuba/Japan and as teleoperator the humanoid robot HRP-2 is used [2]-[4]. The robot arms have six degrees of freedom and are equipped with one degree of freedom grippers. With its 2 degrees of freedom the robot's head can pan and tilt.The operator site, see Fig. 3, is located in Munich/Germany. As a haptic interface the redundant device ViSHaRD7 with 7 degrees of freedom is used [5]. The head orientation of the operator is additionally tracked such that the robot's head with its camera follows the movements of

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Intercontinental cooperative telemanipulation between Germany and Japan

Cited by 6 publications

References 5 publications

Perceptual coding of haptic data in time-delayed teleoperation

Perceptual coding of haptic data in time-delayed teleoperation

Establishing multimodal telepresence sessions using the Session Initiation Protocol (SIP) and advanced haptic codecs

Intercontinental cooperative telemanipulation between Germany and Japan

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