VR-based teleoperation for robot compliance control
Identifieur interne : 001364 ( PascalFrancis/Corpus ); précédent : 001363; suivant : 001365VR-based teleoperation for robot compliance control
Auteurs : C. P. Kuan ; K. Y. YoungSource :
- Journal of Intelligent and Robotic Systems: Theory and Applications [ 0921-0296 ] ; 2001.
Descripteurs français
- Pascal (Inist)
English descriptors
- KwdEn :
Abstract
Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system.
Notice en format standard (ISO 2709)
Pour connaître la documentation sur le format Inist Standard.
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Format Inist (serveur)
| NO : | PASCAL 01-0387073 EI |
|---|---|
| ET : | VR-based teleoperation for robot compliance control |
| AU : | KUAN (C. P.); YOUNG (K. Y.) |
| AF : | Dept. of Electrical and Contr. Eng. National Chiao-Tung University/Hsinchu/Taïwan (1 aut.) |
| DT : | Publication en série; Niveau analytique |
| SO : | Journal of Intelligent and Robotic Systems: Theory and Applications; ISSN 0921-0296; Pays-Bas; Da. 2001; Vol. 30; No. 4; Pp. 377-398; Bibl. 33 Refs. |
| LA : | Anglais |
| EA : | Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system. |
| CC : | 001D02D11; 001D02C02; 001D02D; 001D17 |
| FD : | Théorie; Contrôle intelligent; Télécommande; Manipulateur flexible; Robot intelligent; Poursuite; Commande force; Communication visuelle; Interface haptique; Réalité virtuelle; Robotique |
| ED : | Teleoperation; Remote human operators; Telerobotic systems; Theory; Intelligent control; Remote control; Flexible manipulators; Intelligent robots; Tracking (position); Force control; Visual communication; Haptic interfaces; Virtual reality; Robotics |
| LO : | INIST-21882 |
| ID : | 01-0387073 |
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Pascal:01-0387073Le document en format XML
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Young</name></author></analytic><series><title level="j" type="main">Journal of Intelligent and Robotic Systems: Theory and Applications</title><title level="j" type="abbreviated">J Intell Rob Syst Theor Appl</title><idno type="ISSN">0921-0296</idno><imprint><date when="2001">2001</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Journal of Intelligent and Robotic Systems: Theory and Applications</title><title level="j" type="abbreviated">J Intell Rob Syst Theor Appl</title><idno type="ISSN">0921-0296</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Flexible manipulators</term><term>Force control</term><term>Haptic interfaces</term><term>Intelligent control</term><term>Intelligent robots</term><term>Remote control</term><term>Remote human operators</term><term>Robotics</term><term>Teleoperation</term><term>Telerobotic systems</term><term>Theory</term><term>Tracking (position)</term><term>Virtual reality</term><term>Visual communication</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Théorie</term><term>Contrôle intelligent</term><term>Télécommande</term><term>Manipulateur flexible</term><term>Robot intelligent</term><term>Poursuite</term><term>Commande force</term><term>Communication visuelle</term><term>Interface haptique</term><term>Réalité virtuelle</term><term>Robotique</term></keywords></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en">Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system.</div></front></TEI><inist><standard h6="B"><pA><fA01 i1="01" i2="1"><s0>0921-0296</s0></fA01><fA03 i2="1"><s0>J Intell Rob Syst Theor Appl</s0></fA03><fA05><s2>30</s2></fA05><fA06><s2>4</s2></fA06><fA08 i1="01" i2="1" l="ENG"><s1>VR-based teleoperation for robot compliance control</s1></fA08><fA11 i1="01" i2="1"><s1>KUAN (C. P.)</s1></fA11><fA11 i1="02" i2="1"><s1>YOUNG (K. Y.)</s1></fA11><fA14 i1="01"><s1>Dept. of Electrical and Contr. Eng. 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P.); YOUNG (K. Y.)</AU><AF>Dept. of Electrical and Contr. Eng. National Chiao-Tung University/Hsinchu/Taïwan (1 aut.)</AF><DT>Publication en série; Niveau analytique</DT><SO>Journal of Intelligent and Robotic Systems: Theory and Applications; ISSN 0921-0296; Pays-Bas; Da. 2001; Vol. 30; No. 4; Pp. 377-398; Bibl. 33 Refs.</SO><LA>Anglais</LA><EA>Robots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system.</EA><CC>001D02D11; 001D02C02; 001D02D; 001D17</CC><FD>Théorie; Contrôle intelligent; Télécommande; Manipulateur flexible; Robot intelligent; Poursuite; Commande force; Communication visuelle; Interface haptique; Réalité virtuelle; Robotique</FD><ED>Teleoperation; Remote human operators; Telerobotic systems; Theory; Intelligent control; Remote control; Flexible manipulators; Intelligent robots; Tracking (position); Force control; Visual communication; Haptic interfaces; Virtual reality; Robotics</ED><LO>INIST-21882</LO><ID>01-0387073</ID></server></inist></record>Pour manipuler ce document sous Unix (Dilib)
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