TY - GEN
T1 - A new internet architecture for robot remote control
AU - Wang, Quanyu
AU - Liu, Siyin
AU - Wang, Zhe
PY - 2006
Y1 - 2006
N2 - A new server-decentralized internet architecture based on Jabber for robot remote control is proposed in order to have high availability, performance, scalability, fault tolerance and security. Four components of the architecture: operators, robots, transfer servers and data-keeper are defined and functioned. The robot-controlling data/robot state data are packed with XML stanzas and delivered to the addressed robot/operator through XML streams. In order to test its availability, the architecture is implemented and instanced as a remote control simulation system of Puma560 robot. The system is experimented and a network test is carried out to evaluate the structure; the results show that the architecture is suitable for many kinds of robot remote control scenarios despite the tough network environment.
AB - A new server-decentralized internet architecture based on Jabber for robot remote control is proposed in order to have high availability, performance, scalability, fault tolerance and security. Four components of the architecture: operators, robots, transfer servers and data-keeper are defined and functioned. The robot-controlling data/robot state data are packed with XML stanzas and delivered to the addressed robot/operator through XML streams. In order to test its availability, the architecture is implemented and instanced as a remote control simulation system of Puma560 robot. The system is experimented and a network test is carried out to evaluate the structure; the results show that the architecture is suitable for many kinds of robot remote control scenarios despite the tough network environment.
KW - Jabber
KW - Robot remote control
KW - Robot simulation
KW - XML
UR - http://www.scopus.com/inward/record.url?scp=34250637993&partnerID=8YFLogxK
U2 - 10.1109/IROS.2006.282524
DO - 10.1109/IROS.2006.282524
M3 - Conference contribution
AN - SCOPUS:34250637993
SN - 142440259X
SN - 9781424402595
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 4989
EP - 4993
BT - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
T2 - 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Y2 - 9 October 2006 through 15 October 2006
ER -