Presentation 2019-05-31
Delay-Adaptive Control for Remote Controlled Robots for Cooperative Conveyance
Hiroshi Yoshida, Taichi Kumagai, Shinya Yasuda,
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Abstract(in Japanese) (See Japanese page)
Abstract(in English) A remote control architecture of robots using various external sensors and computers via cloud networks, i.e., Cloud Robotics has gaining much attention from robotics fields. The cloud robotics architecture enables us to install many sensors on vistaed places such as a ceil and thus improve a range and an accuracy of recognizing robots' surrondings. Moreover, it can ease restrictions of size and weight of computers, which enables to execute complex algorithms for the recognition and control. However, communication delay on cloud networks is unavoidable on the architecture. The delay appears as dead time in real-time robot control and it drastically degrades the performance and the stability of the robot control. In this paper, we propose a delay-adaptive robot control system for conveyance robots using the cloud robotics architecture. The proposed system estimates the locations of conveyance robots using a depthe camera installed on a ceil and controls two robots remotely and cooperatively to convey a cart. The experimantal results show that our system achieves highly accurate control even on the cloud robotics architecture.
Keyword(in Japanese) (See Japanese page)
Keyword(in English) Remote Control / Cooperative Control / Robot Control / Communication Delay
Paper # CQ2019-31
Date of Issue 2019-05-23 (CQ)

Conference Information
Committee CQ
Conference Date 2019/5/30(2days)
Place (in Japanese) (See Japanese page)
Place (in English) Hiroshima City University
Topics (in Japanese) (See Japanese page)
Topics (in English) Efficiency of Wireless Communications, Wireless Communication Quality, MIMO/Diversity/Multiplexing Techniques, Radio Resource Management, Cross-Layer Techniques, etc.
Chair Takanori Hayashi(Hiroshima Inst. of Tech.)
Vice Chair Hideyuki Shimonishi(NEC) / Jun Okamoto(NTT)
Secretary Hideyuki Shimonishi(NTT) / Jun Okamoto(Nippon Inst. of Tech.)
Assistant Chikara Sasaki(KDDI Research) / Yoshiaki Nishikawa(NEC) / Ryo Yamamoto(UEC)

Paper Information
Registration To Technical Committee on Communication Quality
Language JPN
Title (in Japanese) (See Japanese page)
Sub Title (in Japanese) (See Japanese page)
Title (in English) Delay-Adaptive Control for Remote Controlled Robots for Cooperative Conveyance
Sub Title (in English)
Keyword(1) Remote Control
Keyword(2) Cooperative Control
Keyword(3) Robot Control
Keyword(4) Communication Delay
1st Author's Name Hiroshi Yoshida
1st Author's Affiliation NEC Corporation(NEC Corp.)
2nd Author's Name Taichi Kumagai
2nd Author's Affiliation NEC Corporation(NEC Corp.)
3rd Author's Name Shinya Yasuda
3rd Author's Affiliation NEC Corporation(NEC Corp.)
Date 2019-05-31
Paper # CQ2019-31
Volume (vol) vol.119
Number (no) CQ-61
Page pp.pp.101-106(CQ),
#Pages 6
Date of Issue 2019-05-23 (CQ)