A Predictor for Operator Input for Time-Delayed Teleoperation

In this paper we describe a method for bridging internet time delays in a free motion type tele-operation scenario in an unmodeled remote environment with video feedback. The method pro-posed uses minimum jerk motion models to predict the input from the user a time into the future that is equivalent to the round-trip communication delay. The predictions are then used to control a remote robot. Thus, the operator can in effect observe the resulting motion of the remote robot with virtually no time-delay, even in the presence of a delay on the physical communications channel. We present results from a visually guided teleoperated line tracing experiment with 100 ms round-trip delays, where we show that the proposed method makes a significant perfor-mance improvement for teleoperation with delays corresponding to intercontinental distances. Key words: teleoperation, time delay, human motion models 1