Internet-based Teleoperation of a Mobile Robot with Force-reflection

In this paper, the relationship between a slave robot and the uncertain remote environment is modeled as the impedance to generate the virtual force to feed back to the operator. For the control of a teleoperated mobile robot equipped with camera, the teleoperated mobile robot take pictures of remote environment and sends the visual information back to the operator over the Internet. Because of the limitation of communication bandwidth and narrow view-angles of camera, it is not possible to watch the environment clearly, especially shadow and curved areas. To overcome this problem, the virtual force is generated according to both the distance between the obstacle and robot and the approachin...