Paper Info
Title
Towards Multi-DOF model mediated teleoperation: Using vision to augment feedback
Abstract
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.
Year
DOI
Venue
2012
10.1109/HAVE.2012.6374429
Haptic Audio Visual Environments and Games
Keywords
Field
DocType
feedback,force sensors,position measurement,robot vision,telerobotics,environment geometry,feedback augmentation,force sensor,location estimation,multidof model mediated teleoperation,multiple sensor,orientation estimation,position sensor,touch feedback prediction,two degrees of freedom,vision sensor,model-mediation,multi-modal estimation,teleoperation
Teleoperation,Computer vision,Control theory,Robot vision,Computer science,Artificial intelligence,Multiple degrees of freedom,Multiple sensors,Telerobotics,Haptic technology,Estimator
Conference
ISBN
Citations 
PageRank 
978-1-4673-1568-5
11
0.60
References 
Authors
9
4
Name
Order
Citations
PageRank
Bert Willaert1110.60
Jeannette Bohg227530.60
Van Brussel, H.313919.47
Günter Niemeyer4110.60