QoS Control in Remote Robot Operation with Force Feedback

Abstract

Recently, many researchers focus on studies of remote robot operation with force feedback. By using force feedback, since users can touch remote objects and feel the shape, weight, and softness of each object, the efficiency and accuracy of operation can be largely improved. However, when the haptic information such as force and/or position information is transmitted over a QoS (Quality of Service) non-guaranteed network like the Internet, QoE (Quality of Experience) and stability may seriously deteriorate. Therefore, it is important to carry out QoS control and stabilization control together to solve the problems. In this chapter, we mainly focus on QoS control. We also introduce our remote robot system with force feedback which we constructed to study QoS control and stabilization control by experiment. In the system, a user operates a remote industrial robot with a force sensor by using a local haptic interface device while monitoring the robot operation by a video camera. We handle two types of operation; operation with a single remote robot system and that between two remote robot systems. We explain several types of QoS control which we have proposed so far for remote robot operation with force feedback. Finally, we discuss the challenges and future directions of QoS control in remote robot operation with force feedback.

Perspective Chapter: Cooperation among Humans and Robots in Remote Robot Systems with Force Feedback

“…In these applications, it is difficult to conduct work with only robots if the situations and environments are unknown in advance and may be always changing. Therefore, human's support is needed [6]. This means that we need robots to help humans, and robots also need human's support.…”

“…We can integrate QoS control into stabilization control for the system. For example, we can carry out QoS control in the loop of stabilization control [6].…”

“…In recent years, many researchers pay attention to remote robot systems with force feedback [1][2][3][4][5][6]. In such a system, a human can operate a remote robot by manipulating a haptic interface device while monitoring movement of the robot arm with a video camera and perceiving force from an object touched/moved by an arm of the robot having a force sensor.…”