关键词: 网络遥操作, 基于事件, 动态神经元群, 操作者意图

Abstract: The random time-delay exists in the Internet can influence the real-time interaction between the operator and telerobot.And it also reduces the stability and the manipulability of the system.This paper proposes a novel approach based on the dynamic neural group model.With analysis of the control instruction sequence from operator，it is able to realize the inference about the operator intention.Under the random time-delay，the telerobot can realize the expected tasks through the local-autonomy control，which according to the operator intention and current environment information.Meanwhile，the control mode can switch with the event-based method to guarantee the stability of the system and improve the dynamic performance of the system.The experiment is demonstrated on the Internet-based telerobot soccer system.Simulation results prove the validity and feasibility of the proposed method.

Key words: Internet-based teleoperation, event based, dynamic neural group, operator intention