Teleoperating a mobile manipulator and a free-flying camera from a single haptic device
Visualitza/Obre
Cita com:
hdl:2117/99447
Tipus de documentText en actes de congrés
Data publicació2017
EditorInstitute of Electrical and Electronics Engineers (IEEE)
Condicions d'accésAccés obert
Llevat que s'hi indiqui el contrari, els
continguts d'aquesta obra estan subjectes a la llicència de Creative Commons
:
Reconeixement-NoComercial-SenseObraDerivada 3.0 Espanya
ProjectePRENSION Y MANIPULACION DIESTRA, MOVIL Y COOPERATIVA (MINECO-DPI2013-40882-P)
ROBOTS MANIPULADORES MOVILES COMO CO-OPERARIOS: AUTONOMIA E INTERACCION EN LA COLABORACION HUMANO-ROBOT (MINECO-DPI2014-57757-R)
ROBOTS MANIPULADORES MOVILES COMO CO-OPERARIOS: AUTONOMIA E INTERACCION EN LA COLABORACION HUMANO-ROBOT (MINECO-DPI2014-57757-R)
Abstract
The paper presents a novel teleoperation system that allows the simultaneous and continuous command of a ground mobile manipulator and a free flying camera, implemented using an UAV, from which the operator can monitor the task execution in real-time. The proposed decoupled position and orientation workspace mapping allows the teleoperation from a single haptic device with bounded workspace of a complex robot with unbounded workspace. When the operator is reaching the position and orientation boundaries of the haptic workspace, linear and angular velocity components are respectively added to the inputs of the mobile manipulator and the flying camera. A user study on a virtual environment has been conducted to evaluate the performance and the workload on the user before and after proper training. Analysis on the data shows that the system complexity is not an obstacle for an efficient performance. This is a first step towards the implementation of a teleoperation system with a real mobile manipulator and a low-cost quadrotor as the free-flying camera.
Descripció
© 2016 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works
CitacióClaret, J., Zaplana, I., Basañez, L. Teleoperating a mobile manipulator and a free-flying camera from a single haptic device. A: IEEE International Symposium on Safety, Security and Rescue Robotics. "SSRR-2016: International Symposium on Safety, Security, and Rescue Robotics: EPFL, Lausanne, Switzerland, October 23-27th, 2016". Lausana: Institute of Electrical and Electronics Engineers (IEEE), 2017, p. 291-296.
ISBN978-1-5090-4349-1
Versió de l'editorhttp://ieeexplore.ieee.org/document/7784318/
Col·leccions
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Ponències/Comunicacions de congressos [1.500]
- IOC - Institut d'Organització i Control de Sistemes Industrials - Ponències/Comunicacions de congressos [147]
- SIR - Service and Industrial Robotics - Ponències/Comunicacions de congressos [118]
Fitxers | Descripció | Mida | Format | Visualitza |
---|---|---|---|---|
JosepArnauClaret_SSRR2016_draft.pdf | 2,304Mb | Visualitza/Obre |