Beyond Webcams : An Introduction to Online Robots

by Ken Goldberg and Roland Siegwart (Eds.)

• ISBN13: 9780262072250
• ISBN10: 0262072254
• Format: Hardcover
• Copyright: 2001-12-01
• Publisher: Mit Pr

Summary

Remote-controlled robots were first developed in the 1940s to handle radioactive materials. Trained experts now use them to explore deep in sea and space, to defuse bombs, and to clean up hazardous spills. Today robots can be controlled by anyone on the Internet. Such robots include cameras that not only allow us to look, but also go beyond Webcams: they enable us to control the telerobotsrs" movements and actions. This book summarizes the state of the art in Internet telerobots. It includes robots that navigate undersea, drive on Mars, visit museums, float in blimps, handle protein crystals, paint pictures, and hold human hands. The book describes eighteen systems, showing how they were designed, how they function online, and the engineering challenges they meet.

Table of Contents

Foreword	ix
Thomas B. Sheridan
Acknowledgments	xiii
Introduction	xv
Ken Goldberg
Roland Siegwart
Part I, Remote Manipulation
Fundamentals of Online Robots	3	(14)
Craig Sayers
The Mercury Project: A Feasibility Study for Online Robots	17	(20)
Ken Goldberg
Steve Gentner
Carl Sutter
Jeff Wiegley
Bobak Farzin
A Distributed Framework for Online Robots	37	(24)
Barney Dalton
Online Robots	61	(20)
Hirohisa Hirukawa
Isao Hara
Toshio Hori
Part II, Remote Mobility
Xavier: An Autonomous Mobile Robot on the Web	81	(18)
Reid Simmons
Richard Goodwin
Sven Koenig
Joseph O'Sullivan
Greg Armstrong
KhepOnTheWeb: One Year of Access to a Mobile Robot on the Internet	99	(18)
Patrick Saucy
Francesco Mondada
RobOnWeb: A Setup with Mobile Mini-Robots on the Web	117	(20)
Roland Siegwart
Patrick Balmer
Caroline Portal
Cedric Wannaz
Remy Blank
Gilles Caprari
The Performance of Mobile Robots Controlled through the Web	137	(18)
Hideki Hashimoto
Noriaki Ando
Joo-Ho Lee
Personal Tele-Embodiment	155	(16)
Eric Paulos
John Canny
Part III, Remote Control and Time Delay
Handling Latency in Internet-Based Teleoperation	171	(22)
Kevin Brady
Tzyh-Jong Tam
Toward Bilateral Internet Teleoperation	193	(22)
Gunter Niemeyer
Jean-Jacques E. Slotine
VISIT: A Teleoperation System via the Computer Network	215	(12)
Kazuhiro Kosuge
Jun Kikuchi
Koji Takeo
Internet-based Ground Operations for Mars Lander and Rover Missions	227	(14)
Paul G. Backes
Kam S. Tso
Jeffrey S. Norris
Gregory K. Tharp
Robust Visualization for Online Control of Mobile Robots	241	(20)
Wolfram Burgard
Dirk Schulz
Part IV, Other Novel Applications
Computer Networked Robotics	261	(16)
Hideki Hashimoto
Yasuharu Kunii
One Year of Puma Painting	277	(18)
Matthew R. Stein
Online Robots and the Remote Museum Experience	295	(12)
Steven B. Goldberg
George A. Bekey
Telerobotic Remote Handling of Protein Crystals via an Internet Link	307	(16)
Steven C. Venema
Blake Hannaford
Index	323