Internet control architecture for internet-based personal robot

This paper proposes a novel direct internet control architecture for internet-based personal robot, which is insensitive to the inherent internet time delay. The personal robot can be controlled using a simulator provided at a local site. Since the internet time delay is affected by the number of nodes and the internet loads, it is variable and unpredictable so that a large internet delay makes some control inputs distorted. The proposed control architecture guarantees that the personal robot can avoid obstacles and reduce the path error and the time difference between a virtual robot at the local site and a real robot at the remote site. This architecture is extended for an uncertain environment. Simulations and experimental results in the real internet environment demonstrate the effectiveness and applicability of the proposed internet control architecture.