Mobile robot control with a mobile
device respectively cell phones
and smartphones
R&D1: Thorsten Linder
Academic advisor: Dr. Hartmund
Surman
State of the Art: Telerobotic
 Def.:
A teleoperator is a physical device which is enabling an
operator to move about, sense or mechanically
manipulate objects by using a robot. If the teleoperator is
a laptop or a similar device they are also called Operator
Control Units (OCU).
 Def.:
A semi-automatic robot which is controlled in supervisory
way or any robot which is complete remote controlled, is
called a telerobot. Thus a telerobot is a robot which has
the ability to be remote controlled and can have semiautonomic behaviors.
State of the Art: Mobile Telerobotic
 ROTEX:
 DLR (German Aerospace
Research Establishment)
developed a outer space
remote manipulator
 flown in space during the
spacelab mission D2 on
space shuttle flight STS
55 from April 26 to May
1993
 DLR did teleoperat the
ROTEX from the ground
with a combination of
joysticks and workstation
State of the Art: Mobile Telerobotic
State of the Art: Mobile Telerobotic
 USAR
 inspection of structural damages
 hazardous material
 explosive ordinance disposal
 e.g.
TELEROB tEODor
iRobot PackBot Explorer




designed for high mobility and rough terrain
laptop like OCUs
main sensory equipment: several cameras
main functionality of there OCUs is camera oriented
navigation
 controlled via tether/wire or wireless.
 human interfaces:
 joystick or game pad for movements
 notebook screen to show the camera views or
additional sensors
State of the Art: Mobile Telerobotic
 Cell-phone guided vehicle
 C. Kelber et al. 2003
 cell-phone to control a remote guided vehicle
 small electrical car equipped with sensor for
 navigation
 obstacle detection
 unit for remote control
 used Dual Tone Multiple Frequency (DTMF)-technology (phone key
tones)
 Hence limited cammonds and no back channel
 Human robot interaction via cellular phones







A. Sekmen et al. 2003
developed a J2ME application to control two different robots
communication architecture TCP/IP socked based,
able to drive there robots and read there internal stats,
predefined command set control the robot
representation of the sensor data: raw data
limited in its usability
Problem Description
 Most approaches make use of PCs or workstations to setup there system OCU.
 Some few approaches deal with mobile devices, e.g. PDAs or cell phones
 All of them faced the limitations of mobile devices
 Many approaches make use of low-level commands
 “Cut-off” the restriction to special robots and to show an approach how a
widespread set of robots can be controlled with one OCU application running
respectively on a mobile device and smart phone
 In fact mobile devices have strong limitations in the fields of user in- and outputs.
 Therefore is to evaluate if the classical usability criteria (ISO 9241) can be
adapted to the field or mobile robotic control via mobile devices.
Approach
 Develop an OCU application with a no previous
knowledge about the command set
 Let the robot tell the OCU how it can be
controlled
 Set-up a architecture to exchange capability
descriptions between the smart phone and the
robots
set of well-Known commands
set of robot specific commands
XML-Files for the sets
Exchange over available Bluetooth or WiFi
Approach
 Planned robots: UAV (Quadrotor) and UGV
Approach
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