RoManSy 6 pp 43-56 | Cite as

Advanced Teleoperation (II) The Generalized Information Feedback Concept in Computer-Aided Teleoperation

  • G. André
  • A. Fournier

Summary

This paper sets the problem of information feedback in computer aided teleoperation from the point of view of supervisory control. Section 1 deals with telepresence versus generalised information feedback (G.I.F.) concepts and the associated perception-action loops in C.A. teleoperation. Section 2 presents the design and implementation of the IRIS experimental system where we underline the contribution of sophisticated technologies: we briefly summarize how force control may be extended to the “remote touch” feeling using proximity sensors. Section 3 focuses on the importance of world model based information for generating realistic or/synthetic, visual or/force feedback. A simulator is firstly used to provide 3D graphic displays. Then it is extended to include a potential field description, which allows the operator to feel in real time artificial magnetic-like forces.

Keywords

Dust Smoke 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    G. ANDRE:“A Multiproximity Sensor System for the Guidance of Robot End Effectors”Proc. ROV1SEC 5, Amsterdam, Oct. 1985.Google Scholar
  2. [2]
    G. ANDRE, R. BOULIC“C.A.O. de systèmes multicapteurs et simulation de commandes basées sur la perception de l’environnement en Robotique”. CAO Robotic Etat de l’Art, Hermès Publishing, 1985.Google Scholar
  3. [3]
    A.K. BEJCZY:“Kinesthetic and Graphic feedback for intergrated operator control”. Proc. 6th Conference Man-Machine Interfaces for Industrial control, 1980.Google Scholar
  4. [4]
    B. ESPIAU,G. ANDRE:“Sensory-Based Control for Robots and Teleoperators”. Proc 5th ROMANSY, Udine, June 1984.Google Scholar
  5. [5]
    B. ESPIAU,R. BOULIC:“Collision Avoidance for Redundant Robots with Proximity Sensors”. Proc 3rd ISRR, Gouvieux, Oct. 1985.Google Scholar
  6. [6]
    T. HASEGAWA:“A newApproach to teaching object Description for a Manipulator Environment”. Proc 12th ISIR, Paris, 1982.Google Scholar
  7. [7]
    O. KHATIB:“Real Time obstacle avoidance for manipulators and mobile robots”. IEEE Conf. on Robotics, St Louis, 1985.Google Scholar
  8. [8]
    C. QUARO,A.FOURNIER:“Computer Aided bilateral manipulator control using a computerized picture as visual feedback”. IASTED 84, Amsterdam, June 1984.Google Scholar
  9. [9]
    S. SAKANE, M. ISHH, M. KAKIKURA: “hand-Eye Simulator:A Basic Tool for Off Line Programming of Visual Sensors” ICAR, Tokyo, 1985.Google Scholar
  10. [10]
    T.B. SHERIDAN: “A review of Recent Research on Supervisory Control of a three dimensional color Control of Deep ocean Robotic vehicles and manipulators“. Proc 9th IFAC, Budapest, 1984.Google Scholar
  11. [11]
    S. TACIII, H. ARAI: “Study on Tele-existence (I and Il) Design and evaluation of a three dimensional color display with sensation of presence”. 5th ROMANSY 84 and ICAR 85.Google Scholar

Copyright information

© Hermes, Paris 1987

Authors and Affiliations

  • G. André
    • 1
  • A. Fournier
    • 2
  1. 1.IRISARennesFrance
  2. 2.LAMMMontpellierFrance

Personalised recommendations