Parallel multi-robots long distance teleoperation

On October 10th 1996 and for the first time in teleoperation history, four robots of different kinematics and situated in different locations (respectively Poitiers, Grenoble and Nantes in France and Tsukuba in Japan) were teleoperated simultaneously (in parallel). The experiment was the first general one of a research cooperation programme named TWE (Telepresence World Experiment) linking seven research teams belonging to five countries. The task consisted in assembling a four pieces puzzle. All the robots had to perform the same task at the same time. In this paper, we discuss the preliminary results of this first trial experiment and problems encountered in achieving the matter. The master consists of a high-level abstraction interface based on virtual reality concepts. The operator performed the task within a simulated environment. Based on direct hand use, the operator assembled the puzzle in a natural manner. Bilateral transformations, from the operator to robot control and backwards, from the robot to operator, with time delay considerations, are presented