遠隔操作ロボット用通信モジュール

抄録

We propose a robot communication module for enhancing teleoperation stability. The communication module has two major advanced functions. One is multi-homing by HIP (Host Identity Protocol) . The other is multimedia QoS (Quality of Service) control for a teleoperated robot. HIP has distinguished features such as multi-homing, mobility supporting and IPsec communication that must be essential in robot teleoperation. Our QoS control for teleoperated robots adapts to dynamic network conditions under heterogeneous environment and environment of the robot using robot's sensor information. We implemented HIP component as a HIP kernel module and QoS component as APIs similar to socket APIs. Thus these components can be installed easily. In this paper, we conducted a verification of the performance of the robot communication module and summarize our future works.