Real-time bilateral control of Internet-based teleoperation

The growth of the Internet has been accompanied by an increase in its applications. One of the most interesting of these is teleoperation, where the Internet is used as a bridge between operators and machines. However, teleoperation over the Internet comes with several problems: delay, lost packets and disconnection. All of these limitations may cause instability in teleoperation systems, especially for those systems include haptic feedback. Most of the previous work in Internet based teleoperation rests on many limiting assumptions, for example, time delay is constant or has an upper bound, control is not in real-time. This paper presents a new real time haptic feedback system that deals with these limitations and difficulties without making any assumptions regarding the time delay. The approach is based on the event based control, which has been implemented or a mobile robot over the Internet. The haptic information include real-time feedback of force and video