High performance teleoperation for industrial work robots

摘要

We have developed a set of perception and control technologies to support practical and effective teleoperation of industrial work robots for use in a variety of industries and tasks. This system is suitable for control of remote mobile robots and manipulators in industrial settings, contaminated or hazardous areas, and on remote platforms over low-bandwidth communications links and would be especially well suited to a variety of applications in power generation and transmission. Our approach combines high-quality, bandwidth-adaptable, 360 degree video, a persistent virtual 3D view of the workspace which is built on the fly, and a robust operator control system to provide a highly effective teleoperation system. This system provides good operator performance over a wide range of available bandwidths, enhanced operator situational awareness, and is resistant to the adverse effects of communications interruptions and slow-downs.