Collaborative teleoperation via the Internet

K. Goldberg, B. Chen, R. Solomon, S. Bui, B. Farzin, J. Heitler, D. Poon, G. Smith
Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No.00CH37065)  
We describe a system that allows a distributed group of users to simultaneously teleoperate an industrial robot arm via the Internet. A java applet at each client streams mouse motion vectors from up to 30 users; a server aggregates these inputs to produce a single control stream for the robot. Users receive visual feedback from a digital camera mounted above the robot arm. To our knowledge, this is the first collaboratively controlled robot on the Internet. To test it please visit:
doi:10.1109/robot.2000.844891 dblp:conf/icra/GoldbergCSBFHPS00 fatcat:qilcro5mljhybnq7npqpr4ybhi