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A Minimum Jerk Predictor for Teleoperation with Variable Time Delay

Christian Smith and Henrik I Christensen.


In this paper we describe a method for bridging internet time delays in a teleoperation scenario. In the scenario, the sizes of the time delays is not only stochastic, but it is also large compared to the task execution time. The method proposed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the one-way communication delay. We present results from a teleoperated ball catching experiment with real internet delays, where we show that the proposed method makes a significant improvement over traditional methods for teleoperation over intercontinental distances.

Keywords: Teleoperation, prediction, minimum jerk, time delay.


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Last update: 2009-06-10