DocumentCode
414401
Title
Toward on-line transition to autonomous teleoperation from master-slave manipulation
Author
Hasegawa, Tsutornu ; Nakagawa, Kousuke ; Murakami, Kouji
Author_Institution
Dept. of Intelligent Syst., Kyushu Univ., Fukuoka, Japan
Volume
4
fYear
2004
fDate
April 26-May 1, 2004
Firstpage
3715
Abstract
A new approach to telerobotic manipulation is proposed. Using swept volume of a slave manipulator tele-operated initially by a human operator, on-line transition to autonomous tele-operation from master-slave manipulation is achieved without any geometric model of the object in an environment. This feature enables wider application in an unstructured environment.
Keywords
collision avoidance; manipulators; mobile robots; telerobotics; autonomous teleoperation; geometric model; human operator; master-slave manipulation; online transition; slave manipulator; telerobotic manipulation; unstructured environment; Collision avoidance; Computer vision; Humans; Information science; Intelligent systems; Joining processes; Manipulators; Master-slave; Motion planning; Solid modeling;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
ISSN
1050-4729
Print_ISBN
0-7803-8232-3
Type
conf
DOI
10.1109/ROBOT.2004.1308840
Filename
1308840
Link To Document