Haptic teleoperation goes wireless: Evaluation and benchmarking of a high-performance low-power wireless control technology

Bolarinwa, Joseph; Smith, Alex; Aijaz, Adnan; Stanoev, Aleksandar; Sooriyabandara, Mahesh; Giuliani, Manuel

Abstract

Communication delays and packet losses are commonly investigated issues in the area of robotic teleoperation. This paper investigates application of a novel low-power wireless control technology (GALLOP) in a haptic teleoperation scenario developed to aid in nuclear decommissioning. The new wireless control protocol, which is based on an off-the-shelf Bluetooth chipset, is compared against standard implementations of wired and wireless TCP/IP data transport. Results, through objective and subjective data, show that GALLOP can be a reasonable substitute for a wired TCP/IP connection, and performs better than a standard wireless TCP/IP method based on Wi-Fi connectivity.

Citation

Bolarinwa, J., Smith, A., Aijaz, A., Stanoev, A., Sooriyabandara, M., & Giuliani, M. (2022). Haptic teleoperation goes wireless: Evaluation and benchmarking of a high-performance low-power wireless control technology. In 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR) (300-307). https://doi.org/10.1109/ssrr56537.2022.10018764

• Conference Name: 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
• Conference Location: Sevilla, Spain
• Start Date: Nov 8, 2022
• End Date: Nov 10, 2022
• Acceptance Date: Sep 16, 2022
• Online Publication Date: Nov 8, 2022
• Publication Date: Nov 8, 2022
• Deposit Date: Feb 15, 2023
• Publicly Available Date: Nov 9, 2024
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• Pages: 300-307
• Series ISSN: 2475-8426
• Book Title: 2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)
• ISBN: 9781665456814
• DOI: https://doi.org/10.1109/ssrr56537.2022.10018764
• Keywords: Automation, haptics, low-power, robotics, nuclear decommissioning, teleoperation, wireless control, Wireless communication, Protocols, TCPIP, Haptic interfaces, Safety, Communication system security, Security
• Public URL: https://uwe-repository.worktribe.com/output/10425457
• Publisher URL: https://ieeexplore.ieee.org/document/10018764
• Related Public URLs: https://ieeexplore.ieee.org/xpl/conhome/10018603/proceeding