The concept of R-Cubed (Real-time Remote Robotics: R3) aims to provide a way to telexist anywhere in the world by controlling remote robots over the network. RCML (R-Cubed Manipulation Language) is considered to be a bottom-up approach of the R-Cubed concept. The design of an RCML system utilizes existing infrastructures and devices such as the Internet and PC and, users of the system will be able to use it easily and intuitively. RCML is a language for describing the interface for controlling remote robots in an RCubed concept. This paper proposes a new design of the RCML system called RCML 2.0. In RCML 2.0, we introduced a language RXID 2.0 for defining Graphical User Interface (GUI), which is used for controlling the remote robot into the system. Both RCML 2.0 and RXID 2.0 are XML- based languages. By using XML, expandability and flexibility in implementation are introduced to the RCML system. RXID 2.0 has mechanism for a one-way link to an RCML data structure, and this mechanism provides for the complete separation of the control of the robot and the user interface. We also show the experimental implementation of the RCML 2.0 system which supports PDA and celler phone as a client in addition to ordinary desktop PC client.
雑誌名
日本バーチャルリアリティ学会論文誌 = Transactions of the Virtual Reality Society of Japan
RCML 2.0: ネットワーク環境における遠隔ロボット操作システムの開発
tachi_2002_060e.pdf
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