Title :
Towards Multi-DOF model mediated teleoperation: Using vision to augment feedback
Author :
Willaert, Bert ; Bohg, Jeannette ; Van Brussel, Hendrik ; Niemeyer, Günter
Author_Institution :
Dept. of Mech. Eng., KU Leuven, Leuven, Belgium
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.
Keywords :
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; Cameras; Estimation; Force; Predictive models; Reliability; Sensors; Trajectory; Model-mediation; Multi-modal estimation; Teleoperation;
Conference_Titel :
Haptic Audio Visual Environments and Games (HAVE), 2012 IEEE International Workshop on
Conference_Location :
Munich
Print_ISBN :
978-1-4673-1568-5
DOI :
10.1109/HAVE.2012.6374429