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Proceedings Paper

Teleoperation with large time delay using a prevision system
Author(s): Massimo Bergamasco; Lucio De Paolis; Stefano Ciancio; Sebastiano Pinna
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Paper Abstract

In teleoperation technology various techniques have been proposed in order to alleviate the effects of time delayed communication and to avoid the instability of the system. This paper describes a different approach to robotic teleoperation with large-time delay and a teleoperation system, based on teleprogramming paradigm, has been developed with the intent to improve the slave autonomy and to decrease the amount of information exchanged between master and slave system. The goal concept, specific of AI, has been used. In order to minimize the total task completion time has been introduced a prevision system, called Merlino, able to know in advance the slave's choices taking into account both the operator's actions and the information about the remote environment. The prevision system allows, in case of environment changes, to understand if the slave can solve the goal. Otherwise, Merlino is able to signal a 'fail situation.' Some experiments have been carried out by means of an advanced human-machine interface with force feedback, designed at PERCRO Laboratory of Scuola Superiore S. Anna, which gives a better sensation of presence in the remote environment.

Paper Details

Date Published: 12 December 1997
PDF: 6 pages
Proc. SPIE 3206, Telemanipulator and Telepresence Technologies IV, (12 December 1997); doi: 10.1117/12.295576
Show Author Affiliations
Massimo Bergamasco, Scuola Superiore S. Anna (Italy)
Lucio De Paolis, Scuola Superiore S. Anna (Italy)
Stefano Ciancio, Scuola Superiore S. Anna (Italy)
Sebastiano Pinna, Scuola Superiore S. Anna (Italy)

Published in SPIE Proceedings Vol. 3206:
Telemanipulator and Telepresence Technologies IV
Matthew R. Stein, Editor(s)

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