Teleoperated robot system via web: the UJI telerobotic training system

摘要

In this article we present a web-based telerobotic system that offers control over an educational robot through the Internet. This telerobotic system is part of a larger multimedia computer-oriented tutorial intended to make the training period of undergraduate computer science students in the robotics field easier. In fact, the main objective of the whole system is to allow the user to remotely control a real robot in order to practice the different concepts explained through the tutorial. First the article clarifies the software and hardware architecture and how the different modules are connected through the standard CORBA. Then a comparative analysis of different object recognition algorithms is shown, that makes possible a high4evel human-robot interaction based on a subset of the natural language. The results of this analysis demonstrate a way of using such a time-consuming procedure in a web environment. Finally; the article describes how the telerobotic system is being used as a training System. Some performance results and ways to improve the system are discussed.