Name
Abstract | ||
|---|---|---|
The authors address the problem of integrating the human operator with autonomous robotic visual tracking and servoing modules. A CCD (charge coupled device) camera is mounted on the end-effector of a robot and the task is to servo around a static or moving rigid target. In manual control mode, the human operator, with the help of joystick and a monitor, commands robot motions in order to compensate for tracking errors. In shared control mode, the human operator and the autonomous visual tracking modules command motion along orthogonal sets of degrees of freedom. In autonomous control mode, the autonomous visual tracking modules are in full control of the servoing functions. Finally, in traded control mode, the control can be transferred from the autonomous visual modules to the human operator and vice versa. The authors present an experimental setup where all these different schemes have been tested. Experimental results of all modes of operation are presented and the related issues are discussed. In certain degrees of freedom the autonomous modules perform better than the human operator. On the other hand, the human operator can compensate fast for failures in tracking while the autonomous modules fail |
Year | DOI | Venue |
|---|---|---|
1992 | 10.1109/ROBOT.1992.220185 | Nice |
Keywords | Field | DocType |
CCD image sensors,adaptive control,computer vision,position control,robots,telecontrol,CCD camera,CCD image sensors,adaptive control,autonomous robotic visual tracking,computer vision,end-effector,human operator,manual control mode,position control,servoing,shared control,telerobotic visual control,tracking errors,traded control | Servo,Control theory,Control engineering,Eye tracking,Artificial intelligence,Joystick,Computer vision,Robot end effector,Adaptive control,Engineering,Robot,Telerobotics,Visual control | Conference |
Volume | Issue | Citations |
1992 | 1 | 6 |
PageRank | References | Authors |
0.62 | 7 | 2 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Papanikolopoulos, N.P. | 1 | 724 | 68.92 |
| Khosla, P.K. | 2 | 931 | 123.84 |