A Multi-Layer Approach of Interactive Path Planning for Assisted Manipulation in Virtual Reality
Identifieur interne : 000360 ( Main/Merge ); précédent : 000359; suivant : 000361A Multi-Layer Approach of Interactive Path Planning for Assisted Manipulation in Virtual Reality
Auteurs : Simon Cailhol [France] ; Philippe Fillatreau [France] ; Jean-Yves Fourquet [France] ; Yingshen Zhao [France]Source :
English descriptors
Abstract
This work considers Virtual Reality (VR) applications dealing with objects manipulation (such as industrial product assembly, disassembly or maintenance simulation). For such applications, the operator performing the simulation can be assisted by path planning techniques from the robotics research field. A novel automatic path planner involving geometrical, topological and semantic information of the environment is proposed for the guidance of the user through a haptic device. The interaction allows on one hand, the automatic path planner providing assistance to the human operator, and on the other hand, the human operator to reset the whole planning process suggesting a better suited path. Control sharing techniques are used to improve the assisted manipulation ergonomics by dynamically balancing the automatic path planner authority according to the operator involvement in the task, and by predicting user’s intent to integrate it as early as possible in the planning process.
Url:
Links toward previous steps (curation, corpus...)
- to stream Hal, to step Corpus: 000021
- to stream Hal, to step Curation: 000021
- to stream Hal, to step Checkpoint: 000035
Links to Exploration step
Hal:hal-01218445Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Multi-Layer Approach of Interactive Path Planning for Assisted Manipulation in Virtual Reality</title>
<author><name sortKey="Cailhol, Simon" sort="Cailhol, Simon" uniqKey="Cailhol S" first="Simon" last="Cailhol">Simon Cailhol</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Fillatreau, Philippe" sort="Fillatreau, Philippe" uniqKey="Fillatreau P" first="Philippe" last="Fillatreau">Philippe Fillatreau</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Fourquet, Jean Yves" sort="Fourquet, Jean Yves" uniqKey="Fourquet J" first="Jean-Yves" last="Fourquet">Jean-Yves Fourquet</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Zhao, Yingshen" sort="Zhao, Yingshen" uniqKey="Zhao Y" first="Yingshen" last="Zhao">Yingshen Zhao</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</titleStmt>
<publicationStmt><idno type="wicri:source">HAL</idno>
<idno type="RBID">Hal:hal-01218445</idno>
<idno type="halId">hal-01218445</idno>
<idno type="halUri">https://hal.archives-ouvertes.fr/hal-01218445</idno>
<idno type="url">https://hal.archives-ouvertes.fr/hal-01218445</idno>
<date when="2015-03-23">2015-03-23</date>
<idno type="wicri:Area/Hal/Corpus">000021</idno>
<idno type="wicri:Area/Hal/Curation">000021</idno>
<idno type="wicri:Area/Hal/Checkpoint">000035</idno>
<idno type="wicri:Area/Main/Merge">000360</idno>
</publicationStmt>
<sourceDesc><biblStruct><analytic><title xml:lang="en">A Multi-Layer Approach of Interactive Path Planning for Assisted Manipulation in Virtual Reality</title>
<author><name sortKey="Cailhol, Simon" sort="Cailhol, Simon" uniqKey="Cailhol S" first="Simon" last="Cailhol">Simon Cailhol</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Fillatreau, Philippe" sort="Fillatreau, Philippe" uniqKey="Fillatreau P" first="Philippe" last="Fillatreau">Philippe Fillatreau</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Fourquet, Jean Yves" sort="Fourquet, Jean Yves" uniqKey="Fourquet J" first="Jean-Yves" last="Fourquet">Jean-Yves Fourquet</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
<author><name sortKey="Zhao, Yingshen" sort="Zhao, Yingshen" uniqKey="Zhao Y" first="Yingshen" last="Zhao">Yingshen Zhao</name>
<affiliation wicri:level="1"><hal:affiliation type="laboratory" xml:id="struct-103181" status="VALID"><orgName>Laboratoire Génie de Production</orgName>
<orgName type="acronym">LGP</orgName>
<desc><address><addrLine>47, avenue d'Azereix BP 1629 65016 Tarbes CEDEX</addrLine>
<country key="FR"></country>
</address>
</desc>
<listRelation><relation active="#struct-305032" type="direct"></relation>
</listRelation>
<tutelles><tutelle active="#struct-305032" type="direct"><org type="institution" xml:id="struct-305032" status="INCOMING"><orgName>Ecole Nationale d'Ingénieurs de Tarbes</orgName>
<desc><address><country key="FR"></country>
</address>
</desc>
</org>
</tutelle>
</tutelles>
</hal:affiliation>
<country>France</country>
</affiliation>
</author>
</analytic>
</biblStruct>
</sourceDesc>
</fileDesc>
<profileDesc><textClass><keywords scheme="mix" xml:lang="en"><term>Control sharing</term>
<term>Interactive path planning</term>
<term>Multi-layer architecture</term>
<term>Virtual Reality</term>
</keywords>
</textClass>
</profileDesc>
</teiHeader>
<front><div type="abstract" xml:lang="en">This work considers Virtual Reality (VR) applications dealing with objects manipulation (such as industrial product assembly, disassembly or maintenance simulation). For such applications, the operator performing the simulation can be assisted by path planning techniques from the robotics research field. A novel automatic path planner involving geometrical, topological and semantic information of the environment is proposed for the guidance of the user through a haptic device. The interaction allows on one hand, the automatic path planner providing assistance to the human operator, and on the other hand, the human operator to reset the whole planning process suggesting a better suited path. Control sharing techniques are used to improve the assisted manipulation ergonomics by dynamically balancing the automatic path planner authority according to the operator involvement in the task, and by predicting user’s intent to integrate it as early as possible in the planning process.</div>
</front>
</TEI>
</record>
Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Merge
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 000360 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Merge/biblio.hfd -nk 000360 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien |wiki= Ticri/CIDE |area= HapticV1 |flux= Main |étape= Merge |type= RBID |clé= Hal:hal-01218445 |texte= A Multi-Layer Approach of Interactive Path Planning for Assisted Manipulation in Virtual Reality }}
![]() | This area was generated with Dilib version V0.6.23. | ![]() |