TeleRobot: Design and Implementation of a Live Remote Interaction Platform for Robots^*

Abstract

With the increasing number and variety of robots, there are still many problems and limitations in the offline communication and cooperation platform. To address this issue, we present a universal ROS robot live interaction platform named TeleRobot that offers features such as multi-angle robot live streaming, remote interaction with robots, and online discussions. The implementation of TeleRobot is based on microservice architecture and WebRTC technology, utilizing Kurento Media Server (KMS) for streaming media transmission, and rosbridge for real-time remote interaction with robots. To enable compatibility with the communication between web, WeChat mini-programs and robots, we have developed a custom high-level text transfer protocol called HIKER based on WebSocket. We also provide web UI for users to manage robots, allowing them to quickly configure the IP, port, and control commands to remotely access their robots for interaction in the live broadcast room. This paper describes in detail the architecture design, system components and system implementation of TeleRobot. Finally, we applied the TeleRobot platform on the XBot-ARM robotic arm and the human-robot interaction (HRI) performance evaluation system of the platform was established using Analytic Hierarchy Process (AHP).