Presentation | 2019-05-31 Delay-Adaptive Control for Remote Controlled Robots for Cooperative Conveyance Hiroshi Yoshida, Taichi Kumagai, Shinya Yasuda, |
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PDF Download Page | PDF download Page Link |
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 |
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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 |
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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) |