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Haptically Augmented Teleoperation

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Experimental Robotics VII

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 271))

Abstract

This article presents various experiments conducted at the Stanford Robotics Group to enhance teleoperation thru the use of movement constraints. Several types of constraints have been studied : Safety constraints, limiting the movements of the slave robot into safe areas and robot and guidance constraints, helping the operator to move according to a predefined geometrical path (along a line, on a plane). Those constraints have been implemented using force feedback on the master device and potential fields are used to compute the amplitude of the force feedback according to the constraints.

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References

  1. Khatib O, 1999 Mobile Manipulation: The Robotic Assistant. Journal of Robotics and Autonomous Systems, vol. 26, 1999, pp. 175–183

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Author information

Authors and Affiliations

  1. Inria/Stanford University Robotics Group, France

    Nicolas Turro

  2. Stanford University Robotics Group, USA

    Oussama Khatib

Authors
  1. Nicolas Turro
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  2. Oussama Khatib
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Editor information

Editors and Affiliations

  1. Department of Computer Science, Dartmouth College, Hanover, NH, 03755, USA

    Daniela Rus

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, PA, 15213, USA

    Sanjiv Singh

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© 2001 Springer-Verlag Berlin Heidelberg

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Cite this paper

Turro, N., Khatib, O. (2001). Haptically Augmented Teleoperation. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_1

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  • DOI: https://doi.org/10.1007/3-540-45118-8_1

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-42104-7

  • Online ISBN: 978-3-540-45118-1

  • eBook Packages: Springer Book Archive

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