A Multi-Layer Approach of Interactive Path Planning for Assisted Manipulation in Virtual Reality
Identifieur interne : 000051 ( France/Analysis ); précédent : 000050; suivant : 000052A 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.
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Hal:hal-01218445Le document en format XML
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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><affiliations><list><country><li>France</li></country></list><tree><country name="France"><noRegion><name sortKey="Cailhol, Simon" sort="Cailhol, Simon" uniqKey="Cailhol S" first="Simon" last="Cailhol">Simon Cailhol</name></noRegion><name sortKey="Fillatreau, Philippe" sort="Fillatreau, Philippe" uniqKey="Fillatreau P" first="Philippe" last="Fillatreau">Philippe Fillatreau</name><name sortKey="Fourquet, Jean Yves" sort="Fourquet, Jean Yves" uniqKey="Fourquet J" first="Jean-Yves" last="Fourquet">Jean-Yves Fourquet</name><name sortKey="Zhao, Yingshen" sort="Zhao, Yingshen" uniqKey="Zhao Y" first="Yingshen" last="Zhao">Yingshen Zhao</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
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