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Conference Paper: Attractive force guided grasping for a teleoperated manipulator system based on monocular vision

TitleAttractive force guided grasping for a teleoperated manipulator system based on monocular vision
Authors
KeywordsRobot teleoperation
Monocular vision
Force feedback
Issue Date2008
Citation
2007 IEEE International Conference on Control and Automation, ICCA, 2008, p. 2453-2457 How to Cite?
AbstractA method is presented here, based on the monocular vision, to provide haptic/force information for the operator which is used to signal to the operator the posture of end effecter relative to the object to be grasped. During the process of grasping, the information concerning the relative posture between the end effecter and the object is of key importance, especially when the end effecter is in the vicinity of the object. Although video information plays a major role in monitoring collision between robot and the object and fine-tuning the end effecter towards the object, the operator should make strict observations about the video images to take precautions against collision between robot and the object. As a result, operators might miss or neglect the advance notice of collision. In view of this problem, vision information obtained from a monocular camera is transformed into haptic information to which operators are more sensitive. Operators can give large master commands confidently without having to consider collision, and accordingly become released from the anxiety about the collision. At the same time, the efficiency of the telerobotic system is enhanced greatly. © 2007 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212973

 

DC FieldValueLanguage
dc.contributor.authorHua, Jianning-
dc.contributor.authorWang, Yuechao-
dc.contributor.authorXi, Ning-
dc.date.accessioned2015-07-28T04:05:38Z-
dc.date.available2015-07-28T04:05:38Z-
dc.date.issued2008-
dc.identifier.citation2007 IEEE International Conference on Control and Automation, ICCA, 2008, p. 2453-2457-
dc.identifier.urihttp://hdl.handle.net/10722/212973-
dc.description.abstractA method is presented here, based on the monocular vision, to provide haptic/force information for the operator which is used to signal to the operator the posture of end effecter relative to the object to be grasped. During the process of grasping, the information concerning the relative posture between the end effecter and the object is of key importance, especially when the end effecter is in the vicinity of the object. Although video information plays a major role in monitoring collision between robot and the object and fine-tuning the end effecter towards the object, the operator should make strict observations about the video images to take precautions against collision between robot and the object. As a result, operators might miss or neglect the advance notice of collision. In view of this problem, vision information obtained from a monocular camera is transformed into haptic information to which operators are more sensitive. Operators can give large master commands confidently without having to consider collision, and accordingly become released from the anxiety about the collision. At the same time, the efficiency of the telerobotic system is enhanced greatly. © 2007 IEEE.-
dc.languageeng-
dc.relation.ispartof2007 IEEE International Conference on Control and Automation, ICCA-
dc.subjectRobot teleoperation-
dc.subjectMonocular vision-
dc.subjectForce feedback-
dc.titleAttractive force guided grasping for a teleoperated manipulator system based on monocular vision-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ICCA.2007.4376803-
dc.identifier.scopuseid_2-s2.0-44349107603-
dc.identifier.spage2453-
dc.identifier.epage2457-

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