An Input Predictor for Time-Delayed Teleoperation
نویسنده
چکیده
We describe a method for bridging internet time delays in a teleoperation scenario where the the time delays are large compared to the task execution time. The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the communication delay. We present results from a teleoperated ball catching experiment, where we show that the proposed method makes a significant improvement over traditional methods for teleoperation over intercontinental distances.
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