Embedded Fail-Safe and Real-Time Communication Framework for HTTP-Based Wireless Mobile Robot Teleoperation

The research proposes an Adaptive Communication-Aware Autonomous Motion Termination (Adaptive-CAAMT) topology for HTTP-based wireless mobile robot teleoperation. Its key contribution is the integration of adaptive timeout supervision, network-quality-based motion degradation, heartbeat synchronization, timestamp validation, and autonomous fail-safe motor shutdown to improve communication resilience and robotic safety. Experimental results demonstrate 100% fail-safe shutdown success across tested fault conditions, with emergency stopping achieved in approximately 143–145 ms.