A semi-autonomous teleoperation system based on robotic hand-eye coordination
- 1 August 2008
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
Abstract
Framework of semi-autonomous teleoperation system based on robotic hand-eye coordination is discussed in this paper. According to mechanisms of visual feedback control and visual feedforward control inherent in human visual guided movement, autonomous hand-eye coordination system is constructed based on binocular disparity and active contour. As an application, the hand-eye coordination robot is applied in the teleoperation system. Relative natural image user interface and tele-autonomy command programming are developed to construct human interaction with autonomous robot, so as to combine merits of human and robot into the system. The experiments show that the semi-autonomous teleoperation system based on hand-eye coordination proposed in this paper is efficient and friendly for human operator.Keywords
This publication has 14 references indexed in Scilit:
- Evidence for stronger visuo-motor than visuo-proprioceptive conflict during mirror drawing performed by a deafferented subject and control subjectsExperimental Brain Research, 2006
- Predictive display and interaction of telerobots based on augmented realityRobotica, 2006
- Semi-autonomous Telerobotic Manipulation: A Viable Approach for Space Structure Deployment and MaintenanceAIP Conference Proceedings, 2005
- Autonomous visual servoing with tele-supervisionPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2004
- Robot, asker of questionsRobotics and Autonomous Systems, 2003
- On-line trajectory modifications of planar, goal-directed arm movementsHuman Movement Science, 2003
- Achieving a Fitts law relationship for visual guided reachingPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2002
- How the lack of visuomotor feedback affects even the early stages of goal-directed pointing movementsExperimental Brain Research, 2002
- CONDENSATION—Conditional Density Propagation for Visual TrackingInternational Journal of Computer Vision, 1998
- Robot hand-eye coordination based on stereo visionIEEE Control Systems, 1995