Space Robot Teleoperation Based on Active Vision

  • Cheng Huang
  • Huaping Liu
  • Fuchun Sun
  • Yuming Sheng
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 279)

Abstract

In order to increase the robustness of space robot teleoperation system and good operational performance, the article design a set of haptic feedback system based on hand controller data glove and active vision system, which depend on the Pan-Tilt-Zoom (PTZ) camera and Kinect camera. It makes operators have the feeling of immersive. This system requires two operator cooperation, one processing Active Vision tracking and image processing, one controlling the movement of robot under the good perception environment. At the same time, Good interpersonal interface design to alleviate the pressure of the operator, in order to study the real space teleoperation scene, we use the software to set the delay system to make the operator to verify the performance of the system in the case of delay. The experiments show that no matter in the presence or absence of delay, the system completes the tasks at a high success rate.

Keywords

Teleoperation Active vision system Time delay Perception environment 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Cheng Huang
    • 1
    • 2
  • Huaping Liu
    • 2
  • Fuchun Sun
    • 2
  • Yuming Sheng
    • 1
  1. 1.School of Optical-Electrical Computer EngineeringUniversity of Shanghai for Science and TechnologyShanghaiChina
  2. 2.State Key Laboratory of Intelligent Technology and SystemsTsinghua National Laboratory for Information Science and TechnologyBeijingChina

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