DocumentCode
338963
Title
Image based predictive display for tele-manipulation
Author
Jägersand, Martin
Author_Institution
Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
Volume
1
fYear
1999
fDate
1999
Firstpage
550
Abstract
Presents an image based method for generating predicted immediate operator visual feedback in a robot tele-manipulation system where the real feedback is delayed. No a priori modeling or calibration is needed. The image model is generated from the real images with techniques similar to image compression. The visual-motor calibration is estimated online from the delayed real visual and robot controller feedback. Experiments with a Utah/MIT robot hand and a PUMA robot arm are shown
Keywords
feedback; image processing; image sensors; manipulators; telerobotics; PUMA robot arm; Utah/MIT robot hand; image based method; image based predictive display; predicted immediate operator visual feedback; tele-manipulation; visual-motor calibration; Calibration; Cameras; Delay; Displays; Feedback; Humans; Image coding; Layout; Motion pictures; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.770034
Filename
770034
Link To Document