PlugFest Whitepaper

From ITPWiki

Breaking the Interoperability Barrier Through Emerging Standards in Teleoperation

Whitepaper on Interoperability “Plugfest”

Hawkeye King and Blake Hananford, BioRobotics Laboratory, University of Washington, Seattle

June 2009

Abstract: Many telemanipulation systems have a great deal in common, specifically they have one or two Cartesian space manipulators with one-DoF end effectors. Despite overwhelming commonalities there is no accepted framework for interconnecting such systems. Instead data interfaces are described ad-hoc by each group, often using a UDP/IP network socket to transmit control data. To promote interoperability through the development of teleoperation standards a project is proposed to interconnect several prominent teleoperation research groups using a common data interface and to demonstrate fluid interconnectivity between independently developed teleoperation technologies. The interface, called the ITP or Interoperable Telesurgical Protocol, is intended as a starting point for discussion and development of a robust and practical Internet-type standard for teleoperation robotics.

Complete whitepaper: Media:PlugfestWhitepaper.pdf