Sensor fusion in telerobotic task controls

Author

Bejczy, Antal K. ; Kim, Won S.

Author_Institution

Jet Propulsion Lab., California Inst. of Technol., Pasadena, CA, USA

Volume

3

fYear

1995

fDate

5-9 Aug 1995

Firstpage

241

Abstract

This paper describes a display and control methodology for combining (or fusing) different multidimensional sensor data to guide the performance of telerobotic contact or near-contact tasks successfully in both manual and supervised automatic modes of control. Success is defined as a mapping of control goals or subgoals into a multidimensional data space. Several implemented examples are presented and illustrated. The methodology can also be extended to virtual reality simulation of telerobotic task scenarios through proper physical modeling of sensors

Keywords

discrete event simulation; sensor fusion; telerobotics; virtual reality; event driven displays; multidimensional data space; multidimensional sensor data; physical modeling; sensor fusion; simulation; telerobotic task control; virtual reality; Automatic control; Displays; Force sensors; Motion control; Multidimensional systems; Robotics and automation; Sensor fusion; Tactile sensors; Telerobotics; Torque;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on

Conference_Location

Pittsburgh, PA

Print_ISBN

0-8186-7108-4

Type

conf

DOI

10.1109/IROS.1995.525890

Filename

525890