Advertisement

Haptically Augmented Teleoperation

  • Nicolas Turro
  • Oussama Khatib
Conference paper
Part of the Lecture Notes in Control and Information Sciences book series (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.

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    Khatib O, 1999 Mobile Manipulation: The Robotic Assistant. Journal of Robotics and Autonomous Systems, vol. 26, 1999, pp. 175–183CrossRefGoogle Scholar
  2. [2]
    Khatib O, Yokoi K, Brock O, Chang K, Casal A Robots in Human Environments: Basic Autonomous Capabilities. International Journal of Robotics Research, vol. 18, no. 7, 1999, pp. 684–696CrossRefGoogle Scholar
  3. [3]
    Gottschalk S, Lin M, Manocha D 1996 OBB-Tree: A Hierarchical Structure for Rapid Interference Detection. Proceedings of SIGGRAPH, Annual Conference Series, pp 171–180, http://www.cs.unc.edu/geom/SSV/
  4. [4]
    Ruspini D C, Kolarov K, Khatib O, 1997 The Haptic Display of Complex Graphical Environments. SIGGRAPH, pp. 345–352Google Scholar
  5. [5]
    Niemeyer G, Slotine J-J, 1998 Towards Force-Reflecting Teleoperation over the Internet. Proc. of the 1998 IEEE Int. Conf. on Robotics and Automation, pp. 1909–1915Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2001

Authors and Affiliations

  • Nicolas Turro
    • 1
  • Oussama Khatib
    • 2
  1. 1.Inria/Stanford University Robotics GroupFrance
  2. 2.Stanford University Robotics GroupUSA

Personalised recommendations