Web TeleRoboticsWeb TeleRobotics

Going Where no man has Going Where no man has gone before.gone before.

We start at the very beginningWe start at the very beginning

• Web TeleRobotics started with Goldberg’s Web TeleRobotics started with Goldberg’s Mercury project (Goldberg et al. 1995) and Mercury project (Goldberg et al. 1995) and Taylor’s Australia’s Telerobot project Taylor’s Australia’s Telerobot project (Taylor and Trevelyan, 1995).(Taylor and Trevelyan, 1995).

• These were not the first robots to be These were not the first robots to be controlled over internet. Previous projects controlled over internet. Previous projects in the early 90’s looked into the internet in the early 90’s looked into the internet as a cheap test environment for simulation as a cheap test environment for simulation of time delayed teleoperation.of time delayed teleoperation.

Taylor’s telerobot Taylor’s telerobot

Taylors telerobot Taylors telerobot

• 6 degree of Freedom arm. Multiple 6 degree of Freedom arm. Multiple cameras provide user feedback.cameras provide user feedback.

• Users could send move requests to the Users could send move requests to the robot via a web page which included robot via a web page which included pictures of the robot workspace.pictures of the robot workspace.

• System used the CGI – common gateway System used the CGI – common gateway interface to generate dynamic web pages interface to generate dynamic web pages which showed the new state of the robot which showed the new state of the robot after each move.after each move.

• A similar system is now installed at the A similar system is now installed at the Carnegie Science Museum.Carnegie Science Museum.

NASA Web Interface for NASA Web Interface for Telescience (WITS)Telescience (WITS)• Used to control remote vehicles on planets Used to control remote vehicles on planets

such as Mars and Saturn.such as Mars and Saturn.• WITS was developed for 2003 and 2005 WITS was developed for 2003 and 2005

rover missions to mars.rover missions to mars.• JAVA client interface launched from an JAVA client interface launched from an

HTML page. Applets are either downloaded HTML page. Applets are either downloaded each time the user accesses the page or each time the user accesses the page or are kept on the local machine and are kept on the local machine and automatically updated. automatically updated.

• The complete download can take more than The complete download can take more than 10 minutes due to the size and complexity.10 minutes due to the size and complexity.

WITS – Environment ViewsWITS – Environment Views

• Overhead Overhead Panorama.Panorama.

• Height Height calculated form calculated form stereo vision stereo vision images is images is represented in represented in different colors.different colors.

WITS - ContinuedWITS - Continued

• Mosaic Mosaic panorama panorama image image gives a gives a view over view over the the landscape landscape in a given in a given direction.direction.

WITS ContinuedWITS Continued

• All images have range data.All images have range data.

• Each pixel on an image is mapped to Each pixel on an image is mapped to a 3D space.a 3D space.

• Provides an easy point & click Provides an easy point & click method for environment measuring method for environment measuring by clicking & dragging.by clicking & dragging.

WITS ContinuedWITS Continued

• Multiuser SystemMultiuser System• Science tasks are associated with Science tasks are associated with

each user and are stored in a each user and are stored in a database.database.

• Tasks for the robot are programmed Tasks for the robot are programmed via the image maps.via the image maps.

• Visual tasks can be compiled down to Visual tasks can be compiled down to language instructions that may be language instructions that may be edited in situ.edited in situ.

WITS SummaryWITS Summary

• A mission planning tool.A mission planning tool.• Somewhat different purpose than other Somewhat different purpose than other

web telerobotics.web telerobotics.• Allows multiple scientists to collaborate Allows multiple scientists to collaborate

together on a central mission plan stored together on a central mission plan stored on a central database. CGI is used to send on a central database. CGI is used to send requests to the database.requests to the database.

• The interface is completely decoupled The interface is completely decoupled from the actual rover that operated from the actual rover that operated autonomously once it receives its autonomously once it receives its instructions for a given day.instructions for a given day.

Berkeley Telegarden ProjectBerkeley Telegarden Project

• A robotic garden project.A robotic garden project.• Users can plant and water the Users can plant and water the

garden or just move around.garden or just move around.• Interface uses standard CGI with no Interface uses standard CGI with no

Java or Javascript.Java or Javascript.• Image size quality and chat i/f are all Image size quality and chat i/f are all

controlled on a second page keeping controlled on a second page keeping the control page simple.the control page simple.

Berkeley Telegarden – Cont.Berkeley Telegarden – Cont.

• Robot motions are Robot motions are point & click i/f. point & click i/f.

• Movement is in a Movement is in a plane parallel to the plane parallel to the ground and ground and environment is environment is restricted.restricted.

• Watering and Watering and planting seeds are planting seeds are autonomous tasks autonomous tasks performed by binary performed by binary on/off indicators on on/off indicators on the control page the control page

• Tele-Garden MembeTele-Garden Member Viewr View

Carnegie Mellon Univ. - Carnegie Mellon Univ. - XavierXavier• Simmons et al. 1999Simmons et al. 1999

• Mobile robot powered by batteries.Mobile robot powered by batteries.

• Robot is online only a few hours a day.Robot is online only a few hours a day.

• As moblie robot it constrained by bandwidth of As moblie robot it constrained by bandwidth of radio modems and power issues.radio modems and power issues.

• The autonomy of the robot along with The autonomy of the robot along with supervisory control help reduce bw requirement.supervisory control help reduce bw requirement.

• Main research focus is Xavier’s local intelligence.Main research focus is Xavier’s local intelligence.

Xavier – Cont.Xavier – Cont.• The higher level of control reduces interactivity. Users The higher level of control reduces interactivity. Users

tend to prefer ‘hands on’ control.tend to prefer ‘hands on’ control.• Commands are specified as target locations all Commands are specified as target locations all

planning and navigation are performed by the system.planning and navigation are performed by the system.

Xavier – Cont.Xavier – Cont.

• Most useful aspect of the experiment was learning the Most useful aspect of the experiment was learning the reliability of the navigation algorithm.reliability of the navigation algorithm.

Xavier – Cont.Xavier – Cont.

• The commands are sent from the browser The commands are sent from the browser to the robot via a CGI script that runs on to the robot via a CGI script that runs on the server. The script “talks” to a resource the server. The script “talks” to a resource scheduling algorithm that communicates scheduling algorithm that communicates with Xavier.with Xavier.

• Time online in a major problem with Time online in a major problem with Xavier. 24h presence is an important goal Xavier. 24h presence is an important goal for web based robots.for web based robots.

• XavierXavier

Wilkes Univ. & Univ. of Wilkes Univ. & Univ. of Wisconsin PumaPaintWisconsin PumaPaint

• Stein 1998; DePasquale et al., 1997;Stein 1998; DePasquale et al., 1997;

• I/F allowes users to paint on canvas at I/F allowes users to paint on canvas at Wilkes Univ. using the Puma robot.Wilkes Univ. using the Puma robot.

• Using a simple paint style program i/f.Using a simple paint style program i/f.

• I/f and communication implemented I/f and communication implemented in JAVA. Using a permanent socket in JAVA. Using a permanent socket connection and custom protocol.connection and custom protocol.

PumaPaint – Cont.PumaPaint – Cont.

• The server can asynchronously The server can asynchronously contact the operator and update the contact the operator and update the command status.command status.

• Aim of the project was to give as Aim of the project was to give as much control as possible while much control as possible while assisting unobtrusively.assisting unobtrusively.

• Users can queue as many commands Users can queue as many commands as they like but can also see the size as they like but can also see the size of the queue.of the queue.

PumaPaintPumaPaint

• The amount of The amount of paint left on brush paint left on brush is indicated by the is indicated by the amount of colour amount of colour deposited on the deposited on the virtual canvas. virtual canvas.

PumaPiant - SummaryPumaPiant - Summary

• Using Java 1.0 has compatibility Using Java 1.0 has compatibility problems across browser platforms.problems across browser platforms.

• Custom protocol over sockets is Custom protocol over sockets is problematic over various proxy problematic over various proxy servers.servers.

• Automatic disconnect needs to be Automatic disconnect needs to be addressed otherwise connections addressed otherwise connections remain open.remain open.

Swiss Federal Inst. Of Tech. – Swiss Federal Inst. Of Tech. – Khep on the WebKhep on the Web

• Michel et al. 1997; Siegwart and Michel et al. 1997; Siegwart and Saucy 1999Saucy 1999

• A robot in a maze.A robot in a maze.

• Users move the robot to try to Users move the robot to try to negotiate the maze.negotiate the maze.

• Uses CGI, Java, JavaScript, frames, Uses CGI, Java, JavaScript, frames, Vrml and Server push.Vrml and Server push.

Khep on the WebKhep on the Web

• No change is reflected in the current state of No change is reflected in the current state of the robot – uncelebrated mode.the robot – uncelebrated mode.

• This simplifies the system since all This simplifies the system since all movement is relative to current position. movement is relative to current position. Which is fed via image.Which is fed via image.

• Server Push updates the image continuously.Server Push updates the image continuously.• Java applet tells the user whether or not the Java applet tells the user whether or not the

robot is stationary or in motion. Additionally robot is stationary or in motion. Additionally it controls how long the user may use the it controls how long the user may use the robot.robot.

Khep on the Web.Khep on the Web.

• VRML is used to provide a virtual model of VRML is used to provide a virtual model of the robot and the workspace. This allows the robot and the workspace. This allows training of inexperienced users and an training of inexperienced users and an alternative to the real robot when it is in alternative to the real robot when it is in use by another user.use by another user.

• Khep can run code from other sources. Khep can run code from other sources. LabView and C algorithms can be LabView and C algorithms can be downloaded to test their ability to navigate downloaded to test their ability to navigate the mazethe maze

Khep on the WebKhep on the Web

EPFL - RobonWebEPFL - RobonWeb

• 4 small watch battery powered 4 small watch battery powered mobile robots in a maze.mobile robots in a maze.

• Control by clicking part of the map or Control by clicking part of the map or specifying a movement direction.specifying a movement direction.

• Positioning of the robots is detected Positioning of the robots is detected using computer vision algorithms using computer vision algorithms applied to an overhead camera.applied to an overhead camera.

• Requires advanced browser support.Requires advanced browser support.

RobOnWebRobOnWeb

CreditsCredits

• Techniques for Web Telerobotics Techniques for Web Telerobotics Barnaby Dalton 2003Barnaby Dalton 2003

• BBerkeley Telegarden projecterkeley Telegarden project

• NASA web siteNASA web site

• Swiss Federal Inst. Of TechnologySwiss Federal Inst. Of Technology