A Distributed Architecture for Teleoperation over the Internet with Application to the Remote Control of an Inverted Pendulum

Gillet, D.Salzmann, Ch.Huguenin, P.2006-05-092006-05-092006-05-09200010.1007/BFb0110229https://infoscience.epfl.ch/handle/20.500.14299/230078This paper discusses challenges in enabling teleoperation over the Internet for the specific case of real systems which exhibit fast dynamics. A distributed client-server architecture is proposed to provide the necessary level of interactivity for supervision and tuning, without compromising the essential control tasks. Enabling features include real-time simulation and augmented-reality visualization to enhance the user perception of the distant ongoing operations. The proposed approach is illustrated through the remote control of an inverted pendulum.TeleoperationInternetReal-timeControlA Distributed Architecture for Teleoperation over the Internet with Application to the Remote Control of an Inverted Pendulumtext::conference output::conference proceedings::conference paper