Networked intelligent robots through the Internet: Issues and opportunity

Proceedings of the IEEE

Volumn 91, Issue 3, 2003, Pages 371-381

  Luo, Ren C ^a,b   Su, Kuo L ^b   Shen, Shen H ^b   Tsai, Kuo H ^b  

^a IEEE   (Taiwan)

^b NATIONAL CHUNG CHENG UNIVERSITY   (Taiwan)

Author keywords

Direct control; Learning control; Neftvorked intelligent wbots; Supervisory control

Indexed keywords

COMPUTER NETWORKS; INTERNET; MICROWAVE ACOUSTIC DEVICES; MOTION PLANNING; ROBOT APPLICATIONS; ROBOT PROGRAMMING; ROBOTICS; TELECONTROL EQUIPMENT;

DIRECT CONTROL; LEARNING CONTROL; NEFTVORKED INTELLIGENT WBOTS; SUPERVISORY CONTROL;

INTELLIGENT AGENTS;

EID: 1642490255     PISSN: 00189219     EISSN: None     Source Type: Journal    
DOI: 10.1109/JPROC.2003.809198     Document Type: Review

References (63)

1. I. Elhaji, J. Tan, N. Xi, W. K. Fung, Y. H. Liu, T. Kaga, Y. Hasegawa, and T. Fukuda, "Multi-site Internet-based cooperative control of robotic operations," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS 2000), pp. 826-831.
2. World news (2003). [Online]. Available: http://www.cnn.com/WORLD/index. html
3. R. C. Luo, C.T. Min, and H.C. Yang, "Networked intelligent autonomous mobile robot: Issues and opportunities," in Proc. IEEE Int. Symp. Industrial Electronics, vol. 1, 1999, pp. PS7-P13.
4. K. Goldberg and M. Mascha, "Desktop teleoperation via the World Wide Web," in Proc. 1995IEEEInt. Conf. Robotics and Automation, vol. 1, 1995, pp. 654-659.
5. The Telegarden: On exhibit at the Ars Electronica Center (1996-1997). [Online]. Available: http://www.www.usc.edu/dept/garden/
6. E. Paulos and J. Canny, "Delivering real reality to the World Wide Web via telerobotics," in Proc. 1996 IEEE Int. Conf. Robotics and Automation, vol. 2, 1996, pp. 1694-1699.
7. J. E. F. Baruch and M. J. Cox, "Remote control and robots: An Internet solution," IEE Comput. Control Eng. J., vol. 7, no. 1, pp. 39-44, Feb. 1996.
8. Australia's telerobot on the Web [Online]. Available: http://telerobot.mech.uwa.edu.au/
9. K. Brady and T. J. Tarn, "Internet-based remote teleoperation," in Proc. 1998 IEEE Int. Conf. Robotics and Automation, vol. 1, pp. 65-70.
10. M. Stein, "Painting on the World Wide Web: The PumaPaint project," presented at the IROS Workshop Robots on the Web, Victoria, BC, Canada, 1998.
11. R. Simmons, "Xavier: An autonomous mobile robot on the Web," presented at the IROS Workshop Robots on the Web, Victoria, BC, Canada, 1998.
12. R. C. Luo and T. M. Chen, "Development of a multibehavior-based mobile robot for remote supervisory control through the Internet," 1EEE/ASME Trans. Mechatronics, vol. 5, pp. 376-385, Dec. 2000.
13. P. Saucy and F. Mondada, "KhepOnTheWeb: Open access to a mobile robot on the Internet," IEEE Robot. Automat. Mag., vol. 7, pp. 41-47, Mar. 2000.
14. K. Goldberg, S. Gentner, C. Sutler, and J. Wiegley, "The Mercury project: A feasibility study for Internet robots," IEEE Robot. Automat. Mag., vol. 7, pp. 35-40, Mar. 2000.
15. R. C. Luo, M. Y. Chern, K. S. Hwang, A. Liu, T. M. Chen, C. Y. Hu, K. C. Hong, Y. W. Lee, and C. C. Chen, "Development of intelligent electrical wheelchair for hospital automation," in Proc. IEEE/ASME Int. Conf. Mechatronics (ICMT'98), 1998, pp. 417-422.
16. K. Goldberg, B. Chen, R. Solomon, S. Bui, B. Farzin, J. Heitier, D. Poon, and G. Smith, "Collaborative teleoperation via the Internet," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 2, 2000, pp. 2019-2024.
17. S. Maeyama, S. Yuta, and A. Harada, "Remote viewing on the Web using multiple mobile robotic avatars," in Proc. lEEE/RSJ Int. Conf. Intelligent Robots and Systems, vol. 2, 2001, pp. 637-642.
18. J. Vertut and P. Coiffet, "Robot technology," in Teleoperations and Robotics: Evolution and Development. Englewood Cliffs, NJ: Prentice-Hall, 1986, vol. 3A.
19. W. R. Ferrell, "Remote manipulation with transmission delay," Hum. Factors Electron., vol. HFE-6, pp. 24-32, Sept. 1965.
20. _, "Delayed force feedback," Hum. Factors Electron., vol. HFE-8, pp. 449-455, Oct. 1966.
21. R. J. Anderson and M. W. Spong, "Bilateral control of teleoperators with time delay," IEEE Trans. Automat. Contr., vol. 34, pp. 494-501, May 1989.
22. L. Eusebi and C. Melchiorri, "Force reflecting telemanipulators with time-delay: Stability analysis and control design," IEEE Trans. Robot. Automat., vol. 14, pp. 635-640, Aug. 1998.
23. G. Niemeyer and J. E. Slotine, "Using wave variables for system analysis and robot control," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 2, 1997, pp. 1619-1625.
24. _, "Designing force reflecting teleoperators with large time delays to appear as virtual tools," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, 1997, pp. 2212-2218.
25. R. Oboe and P. Fiorini, "A design and control environment for Internet-based telerobotic," Int. J. Robot. Res., vol. 17, pp. 433-149, 1998.
26. P J. Hyeon and C. H. Chul, "Sliding-mode controller for bilateral teleoperation with varying time delay," in Proc, IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, 1999, pp. 311-316.
27. J. Su, I. Fong, and C. Tseng, "Stability analysis of linear systems with time'delay," IEEE Trans. Automat. Contr., vol. 39, pp. 1341-1344, June 1994.
28. A. Sano and H. F. M. Tanaka, "Gain-scheduled compensation for time delay of bilateral teleoperation systems," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, 1998, pp. 1916-1923.
29. J- Kikuchi, K. Takeo, and K. Kosuge, 'Teleoperation system via computer network for dynamic environment," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 4, 1999, pp. 3534-3539.
30. K. Kosuge and H. Murayama, "Bilateral feedback control of telemanipulator via computer network in discrete time domain," in Proc. IEEE Int. Conf. Kobotics and Automation, vol. 3, 1997, pp. 2219-2224.
31. G. Niemeyer and J. J. E. Slotine, 'Toward force-reflecting teleoperation over the Internet," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, 1998, pp. 1909-1915.
32. R. C. Luo and L.-Y. Chung, "Stabilization for linear uncertain system with time latency," IEEE Trans. Ind. Electron., vol. 49, pp. 905-910, Aug. 2001.
33. D. Schulz, W. Burgard, and A. B. Cremers, "Predictive simulation of autonomous robots for tele-operation system using the World Wide Web," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 1998, pp. 31-36.
34. L. Conway, R. A. Volz, and M. W. Walker, 'Teleautonomous systems: Projecting and coordinating intelligent action at a distance," IEEE Trans. Robot. Automat., vol. 6, pp. 146-158, Apr. 1990.
35. C. Guo, T. J. Tarn, N. Xi, and A. K. Bejczy, "Fusion of human and machine intelligence for telerobotic systems," in Proc. 1995 IEEE Int. Conf. Robotics and Automation, vol. 3, pp. 3110-3115.
36. T. Mori, N. Fukuma, and M. Kuwahara, "Simple stability criteria for single and composite linear systems with time delays," Int. J. Control, vol. 34, no. 6, pp. 1175-1184, 1981.
37. B. Choi, T. Y. Kuc, and H. Choi, "Adaptive learning of teleoperating robotic motion," in Proc. IEEE Int. Conf. Systems, Man, and Cybernetics, vol. 3, 1997, pp. 2752-2757.
38. K. Tanaka, E. Nakagawa, M. Ito, and N. Mizuno, "An Intenet-based tele-robot environment for a time critical task," in Proc. IEEE Int. Conf. Systems, Man, and Cybernetics, vol. 5, 1999, pp. 1106-1110.
39. T. Mori and H. Koname, "Stability of time-delay systems," IEEE Trans. Automat. Contr., vol. 34, pp. 460-462, Apr. 1989.
40. M. R. Stein, "Interactive Internet artistry," IEEE Robot. Automat. Mag., vol. 7, pp. 28-32, June 2000.
41. E. W. Kamen, "On the relationship between zero criteria for twovariable polynomials and asymptotic stability of delay differential equations," IEEE Trans. Automat. Contr., vol. AC-25, pp. 983-985, Oct. 1980.
42. Medical robotics at UC Berkeley [Online]. Available: http://robottcs. eecs.berkeley.edu/medical/
43. M. C. Cavusoglu, W. Williams, F. Tendick, and S. S. Sastry, "Robotics for telesurgery: Second generation Berkeley/UCSF laparoscopic telesurgical workstation and looking toward the future applications"," presented at the 39th Allerton Conf. Communication, Control and Computing, Monticello, IL, 2001.
44. K. Masuda, E. Kimura, N. Tateishi, and K. Ishihara, "Three dimensional motion mechanism of ultrasound probe and its application for tele-echography system," in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, vol. 2, 2001, pp. 1112-1116.
45. N. Takanobu, R. Soyama, A. Takanishi, K. Ohtsuki, D. Ozawa, and M. Ohnishi, "Remote treatment with mouth opening and closing training robot," in Proc. IEEE Int. Conf. Intelligent Robots and Systems (IROS2000), vol. 1, pp. 553-558.
46. F. Mizoguchi, H. Hiraishi, and H. Nishiyama, "Human-robot collaboration in the smart office environment," in Proc. IEEE/ASME Int. Conf. Advanced Intelligent Mechatronics, 1999, pp. 79-84.
47. [Online]. Available: http://www.putzmeister.de/gb/produkte/rn/default.asp
48. R. C. Luo, K. L. Su, J. H. Chou, and S. H. H. Phang, "Multisensor based control of pet robot through the Internet," in Proc. 27th Anna. Conf. IEEE Industrial Electronics Society (IECON2001), vol. 1, pp. 416-421.
49. W. Burgard, A. B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun, "The interactive museum tourguide robot," in Proc. Nat. Conf. Artificial Intelligence (AAAI), 1998, PP. 11-18.
50. MINERVA: Carnegie Mellon's robotic tourguide project (2003). [Online]. Available: http://www.cs.cmu.edu /-minerva
51. S. Thrun, M. Bennewitz, W. Burgard, A. B. Cremers, F. Dellaert, D. Fox, D. Hähnel, C. Rosenberg, N. Roy, J. Schulte, and D. Schulz, "MINERVA: A second-generation museum tour-guide robot," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 3, 1999, pp. 1999-2005.
52. W. Burgard, A. B. Cremers, D. Fox, D. Hähnel, G. Lakemeyer, D. Schulz, W. Steiner, and S. Thrun, "Experiences with an interactive museum tour-guide robot," Artif. Intell., vol. 114, pp. 3-55,1999.
53. R. C. Luo, S. H. Shen, K. L. Su, and T. C. Chang, "Remote mobile security system using personal digital assistant (PDA) for security robot," presented at the IEEE/ASME Int. Conf. Advanced Manufacturing Technologies and Education in the 21st Century (AMTE2002), Chia-yi, Taiwan, R.O.C..
54. Field integrated design and operations rover, NASA. (2003). [Online]. Available: http://fido.jpl.nasa.gov/
55. P. S. Schenker, E. T. Baumgartner, P. G. Backes, H. Aghazarian, L. I. Dorsky, J. S. Norris, T. L. Huntsberger, Y. Cheng, A. Trebi-Ollennu, M. S. Garrett, B. A. Kennedy, A. J. Ganino, R. E. Arvidson, and S. W. Squyres, "FIDO: A Field integrated design and operations rover for Mars surface exploration," presented at the Int. Symp. Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS), Montreal, QB, Canada, 2001.
56. P. G. Backes, K. S. Tso, J. S. Norris, G. K. Tharp,J.T. Slostad, R. G. Bonitz, and K. S. Ali, "Internet-based operations for the Mars polar lander mission," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 2, 2000, pp. 2025-2032.
57. P. G. Backes, G. Rabideau, and K. S. Tso, 'The Web interface for telescience (WITS)," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 1, 1997, pp. 411-417.
58. P. G. Backes, G. Rabideau, K. S. Tso, and S. Chien, "Automated planning and scheduling for planetary rover distributed operations," in Proc. IEEE Int. Conf. Robotics and Automation, vol. 2, 1999, pp. 984-991.
59. WITS: The Web interface for telescience (2003). [Online]. Available: http://wits.jpl.nasa.gov/
60. R. J. Anderson and M. W. Spong, "Bilateral control of teleoperators with time delay," IEEE Trans. Automat. Contr., vol. 34, pp. 494-501, 1989.
61. W. S. Kim, B. Hannaford, and A. K. Fejczy, "Force-reflection and shared compliant control in operating telemanipulators with time delay," IEEETrans. Robot. Automat., vol. 8, pp. 176-185,Apr. 1992.
62. A. Eusebi and C. Melchiorri, "Stability analysis of bilateral teleoperation robotic system," presented at the 3rd Eur. Control Conf. (ECC'95), Rome, Italy, 1995.
63. S. D. Brierley, J. N. Chiasson, E. B. Lee, and S. H. Zak, "On stability independent of delay for linear systems for linear systems," IEEE Trans. Automat. Contr., vol. AC-27, pp. 253-254, Feb. 1982.