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Towards Multi-DOF model mediated teleoperation: Using vision to augment feedback

2012

Conference Paper

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In this paper, we address some of the challenges that arise as model-mediated teleoperation is applied to systems with multiple degrees of freedom and multiple sensors. Specifically we use a system with position, force, and vision sensors to explore an environment geometry in two degrees of freedom. The inclusion of vision is proposed to alleviate the difficulties of estimating an increasing number of environment properties. Vision can furthermore increase the predictive nature of model-mediated teleoperation, by effectively predicting touch feedback before the slave is even in contact with the environment. We focus on the case of estimating the location and orientation of a local surface patch at the contact point between the slave and the environment. We describe the various information sources with their respective limitations and create a combined model estimator as part of a multi-d.o.f. model-mediated controller. An experiment demonstrates the feasibility and benefits of utilizing vision sensors in teleoperation.

Author(s): Willaert, B. and Bohg, J. and Van Brussel, H. and Niemeyer, G.
Book Title: IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE)
Pages: 25-31
Year: 2012
Month: October

Department(s): Autonomous Motion
Bibtex Type: Conference Paper (inproceedings)

DOI: 10.1109/HAVE.2012.6374429

BibTex

@inproceedings{6374429,
  title = {Towards Multi-DOF model mediated teleoperation: Using vision to augment feedback},
  author = {Willaert, B. and Bohg, J. and Van Brussel, H. and Niemeyer, G.},
  booktitle = {IEEE International Workshop on Haptic Audio Visual Environments and Games (HAVE)},
  pages = {25-31},
  month = oct,
  year = {2012},
  month_numeric = {10}
}