Information Transformation-based Tele-robotic Systems
In teleoperation tasks, information about the relative posture between end-effector and the object to be grasped is of key importance for human operators. Although visual information plays a major role in monitoring collision and fun-tuning the end-effector towards the object, the operator should make strict observations about the video images to take precautions against collision between robot and the object. As a result, operators might miss or neglect the advance notice of collision. In view of this problem, an information transformation method is put forward, which converts visual information to haptic/force information and is used to signal to the human operator the posture of end-effector relative to the object to be grasped. In this method, visual information obtained from a monocular camera is transformed into haptic/force information to which operators are more sensitive. The transformation method conveys a realistic sense of the state of operations and allows high operability of the system. Finally, experimental results are presented which demonstrate the effectiveness of the implemented method.
Jianning Hua Wei Ding Hongyi Li Yuechao Wang Ning Xi
Northeastern University at Qinhuangdao,Qinhuangdao,066004 State Key Laboratory of Robotics,Shenyang Institute of Automation,Chinese Academy of Sciences,Shenya
国际会议
2009 IEEE International Conference on Information and Automation(2009年 IEEE信息与自动化国际学术会议)
珠海、澳门
英文
1602-1607
2009-06-22（万方平台首次上网日期，不代表论文的发表时间）