TY - GEN
T1 - Remote robot control with human-in-the-loop over long distances using digital twins
AU - Tsokalo, Ievgenii A.
AU - Kuss, David
AU - Kharabet, Ievgen
AU - Fitzek, Frank H.P.
AU - Reisslein, Martin
PY - 2019/12
Y1 - 2019/12
N2 - The sharing of skills over the Internet enables professionals to democratize their expertise and skills without exhausting their availability, e.g., through excessive traveling. To enable this Internet of Skills, we present a novel Digital Twin (DT) platform for the remote control of machines with human-in-the-loop. The DT of a remotely controlled machine acts effectively as an inter-layer between the operator and the controlled machine, e.g., robot arm. The DT can be optimized for a particular application to interact with the operator with an intuitive low-latency interface and, on other side, to control and monitor the quality of the remote task. Essentially, the human operator controls the DT, while the DT controls the remote robot. This paper introduces the DT framework for the remote control. The human-machine-human control loop is split into Virtual Reality (VR), remote control, and robot control loops. The proposed framework achieves low latency visual feedback and very short system reaction times for unexpected changes with arbitrary distances between operator and robot. Within the DT framework, this paper proposes a robot control algorithm for controlling time-critical robot applications over networks with considerable delays and jitter. The proposed framework has been implemented in a demonstrator with a robot arm and its DT in VR.
AB - The sharing of skills over the Internet enables professionals to democratize their expertise and skills without exhausting their availability, e.g., through excessive traveling. To enable this Internet of Skills, we present a novel Digital Twin (DT) platform for the remote control of machines with human-in-the-loop. The DT of a remotely controlled machine acts effectively as an inter-layer between the operator and the controlled machine, e.g., robot arm. The DT can be optimized for a particular application to interact with the operator with an intuitive low-latency interface and, on other side, to control and monitor the quality of the remote task. Essentially, the human operator controls the DT, while the DT controls the remote robot. This paper introduces the DT framework for the remote control. The human-machine-human control loop is split into Virtual Reality (VR), remote control, and robot control loops. The proposed framework achieves low latency visual feedback and very short system reaction times for unexpected changes with arbitrary distances between operator and robot. Within the DT framework, this paper proposes a robot control algorithm for controlling time-critical robot applications over networks with considerable delays and jitter. The proposed framework has been implemented in a demonstrator with a robot arm and its DT in VR.
KW - Closed-loop control
KW - Edge cloud
KW - Low latency
KW - Remote control
KW - Robot arm
KW - Tactile Internet
UR - http://www.scopus.com/inward/record.url?scp=85081951100&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85081951100&partnerID=8YFLogxK
U2 - 10.1109/GLOBECOM38437.2019.9013428
DO - 10.1109/GLOBECOM38437.2019.9013428
M3 - Conference contribution
T3 - 2019 IEEE Global Communications Conference, GLOBECOM 2019 - Proceedings
BT - 2019 IEEE Global Communications Conference, GLOBECOM 2019 - Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE Global Communications Conference, GLOBECOM 2019
Y2 - 9 December 2019 through 13 December 2019
ER -