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The framework has been designed to minimize the work required to connect a robot or other device to the Internet, while providing the basic functionality needed for a collaborative distributed system. Most of the early World Wide Web (WWW) controlled robots [5, 14] used the Common Gateway Interface (CGI) [2] to interface between web browsers and the physical device being controlled. CGI processes are launched by a web browser in response to certain HTTP requests, and the CGI result is sent as the HTTP response.
In this case, processing time is traded off (to encode and decode each image) in return for lower transmission bandwidths. Fundamentals of Online Robots 11 To cope with the delay, one convenient approach would be to do nothing and rely on the operator to adapt. Although attractively simple, such an approach will not work well. Consider the case where the operator notices the remote manipulator is about to hit a wall. The operator reacts immediately, but, by the time the image of the robot is seen, it is already several seconds too late.
4] R. D. Ballard. A last long look at Titanic. National Geographic 170(6), December 1986. [5] A. K. Bejczy. Sensors, controls, and man-machine interface for advanced teleoperation. Science 208(4450), 1980. [6] R. S. Mosher. Industrial manipulators. Scientific American 211(4), 1964. [7] R. Tomovic. On man-machine control. Automatica 5, 1969. [8] A. Bejczy, G. Bekey, R. Taylor, and S. Rovetta. A research methodology for tele-surgery with time delays. In First International Symposium on Medical Robotics and Computer Assisted Surgery, September 1994.