The Mercury Project: A feasibility study for Internet robots
The Mercury Project: A feasibility study for Internet robots
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DOI：
10.1109/100.833573
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发表时间：
2000-03-01
影响因子：
5.7
通讯作者：
Wiegley, J
中科院分区：
文献类型：
--
作者：
Goldberg, K;Gentner, S;Wiegley, J
万维网于 1992 年由 CERN 发起，为互联网提供了标准图形界面 [1]，全球用户数量在过去几年中呈指数级增长。 1994 年春天，我们推测可能有可能通过 WWW 向公众提供远程操作机器人的访问。作为 1994 年的可行性研究，我们构建了一个允许通过互联网远程操作机器人机械手的系统。尽管远程操作领域已有 50 多年的历史，但 HTTP 提供了一种低成本且广泛可用的接口，可以使广泛的用户访问远程操作资源。 Mercury 项目由一个配有 CCD 摄像头和气动系统的工业机器人手臂组成。我们在机器人工作空间中放置了一个沙箱，里面装有埋藏的文物。新手用户远程移动相机以查看所需位置，并将短时压缩空气导入沙子中以查看新清理的区域。 据我们所知，水星计划是第一个互联网机器人。从 1994 年 8 月到 1995 年 3 月，它几乎一直可用，并有超过 50,000 个独特的软管可供使用。本文重点介绍系统的界面设计、机器人硬件和架构。屏幕截图和详细信息存档于 www.usc.edu/dept/raiders/。
Initiated at CERN in 1992, the World Wide Web provides a standard graphical interface to the Internet [1], and the number of users worldwide has grown exponentially in the last few years. In the Spring of 1994, we conjectured that it might be possible to offer public access to a teleoperated robot via the WWW.As a feasibility study in 1994, we built a system that allows a robot manipulator to be teleoperated via the Internet. Although the field of teleoperation dates back over 50 years, HTTP provides a low-cost and widely available interface that can make teleoperated resources accessible to a broad range of users. The Mercury Project consisted of an industrial robot arm fitted with a CCD camera and a pneumatic system. We placed a sandbox filed with buried artifacts in the robot workspace. Novice users remotely moved the camera to view desired locations and directed short bursts of compressed air into the sand to view the newly cleared regions.To our knowledge, the Mercury Project was the first Internet robot. It was available almost continuously fi-om August 1994 through March 1995 and was accessed by over 50,000 unique hoses. This article focuses on the interface design, robot hardware, and architecture of the system. Screenshots and details are archived at www.usc.edu/dept/raiders/.