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ICRA
2000
IEEE

Automatic Identification of Local Geometric Properties During Teleoperation

9 years 6 months ago
Automatic Identification of Local Geometric Properties During Teleoperation
During teleoperation, a human operator often receives only 2-D visual feedback from the remote environment. While a variety of kinematic sensors exist on the remote manipulator for control purposes, the information inherent in these signals is rarely extracted and presented to the operator in a useful form. This paper investigates the extraction of such information through the development of an algorithm that estimates the geometric properties of a manipulated object and its environment using the remote robot’s sensors and knowledge of the task being performed. The focus of the paper is the development of contact constraint equations parameterized by the desired geometric properties and the automatic segmentation of the data stream according to the set of active contacts. The approach is validated for three-dimensional peg-in-hole insertion using a desktop teleoperator system.
Thomas Debus, Pierre E. Dupont, Robert D. Howe
Added 31 Jul 2010
Updated 31 Jul 2010
Type Conference
Year 2000
Where ICRA
Authors Thomas Debus, Pierre E. Dupont, Robert D. Howe
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