New Network Protocol for Supermedia-Enhanced Telerobotics

The growing complexity of robotic teleoperation systems necessitates the integration of multiple feedback modalities, including video, audio, force, tactile, and temperature feedback. The concept of supermedia is utilized to describe the aggregation of these feedback streams. By integrating multiple media forms, supermedia can offer a more comprehensive interactive experience for robot teleoperation systems. However, existing transmission protocols struggle to maintain synchronization among these diverse feedback streams, particularly in demanding network environments. In this paper, we present the Tele-Robotic Control Protocol (TRCP), a novel network transmission protocol specifically designed for supermedia-enhanced robotic teleoperation systems. TRCP incorporates an event reference mechanism that coordinates multiple feedback streams based on robot state rather than traditional time-based sampling. It also employs multi-queue management for the independent handling of different feedback types and integrates an adaptive adjustment mechanism that optimizes transmission parameters in response to real-time network conditions. The effectiveness of TRCP is demonstrated through a cross-continental teleoperation experiment between the University of Glasgow and the University of Hong Kong. TRCP achieves superior feedback synchronization and real-time responsiveness, significantly enhancing both task success rates and operator performance.

Authors

• Xinyu Liu 0013
• Zekun Song
• Hongli Huang
• Yuxuan Xue
• Yichen Wang
• Vellaisamy A. L. Roy
• Ning Xi 0001

Keywords

• Protocols
• Adaptive systems
• Systematics
• Robot kinematics
• Solids
• User experience
• Real-time systems
• Synchronization
• Telerobotics
• Videos
• Communication Protocol
• Visual Feedback
• Network State
• Robotic System
• Network Environment
• Type Of Feedback
• Force Feedback
• Multiple Streams
• Feedback Modalities
• Adaptive Adjustment
• Robot State
• Temperature Feedback
• Types Of Information
• Data Transmission
• Feedback Information
• Robotic Arm
• Bitrate
• Transmission Control Protocol
• Real-time Protocol
• User Datagram Protocol
• Data Packets
• Operative Side
• Random Delay
• Different Types Of Information
• Video Transmission
• Transmission Delay
• High Synchrony