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A multi-robot cooperation strategy for dexterous task oriented teleoperation
dc.contributor.author | Hernansanz Prats, Alberto |
dc.contributor.author | Casals Gelpí, Alicia |
dc.contributor.author | Amat Girbau, Josep |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Institut de Bioenginyeria de Catalunya |
dc.date.accessioned | 2015-09-21T11:08:16Z |
dc.date.available | 2017-06-30T00:30:26Z |
dc.date.created | 2015-06-01 |
dc.date.issued | 2015-06-01 |
dc.identifier.citation | Hernansanz, A., Casals, A., Amat, J. A multi-robot cooperation strategy for dexterous task oriented teleoperation. "Robotics and autonomous systems", 01 Juny 2015, p. 156-172. |
dc.identifier.issn | 0921-8890 |
dc.identifier.uri | http://hdl.handle.net/2117/76988 |
dc.description.abstract | The use of multiple robots working cooperatively in a redundant way offers new possibilities in the execution of complex tasks in dynamic workspaces. The aim of this work is to increase the range of applicability of teleoperated systems by means of the automatic cooperation of multiple slave robots which, controlled by a human operator, act as if they were a unique robot: a Multi-Robot Cooperation Platform fer Task-Oriented Teleoperation, MRCP. From the human operator commands, this robotic platform, the MRCP, dynamically selects the most suitable slave robot and manages, when necessary, a task transfer from one robot to another in order to achieve a smooth execution of teleoperated tasks.; The result of the proposed methodology is an improved teleoperated system in terms of reachable workspace (volume, manoeuvrability and accessibility) and dexterity, thus widening its range of applicability. This approach allows human operators to focus their attention on the ongoing task more than on the teleoperated robots. |
dc.format.extent | 17 p. |
dc.language.iso | eng |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Robots -- Control systems |
dc.subject.other | Multi-robot cooperation |
dc.subject.other | Task-oriented teleoperation |
dc.subject.other | Single-operator-multiple-robot |
dc.title | A multi-robot cooperation strategy for dexterous task oriented teleoperation |
dc.type | Article |
dc.subject.lemac | Robots -- Sistemes de control |
dc.contributor.group | Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes |
dc.identifier.doi | 10.1016/j.robot.2014.12.007 |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://www.sciencedirect.com/science/article/pii/S0921889014003042 |
dc.rights.access | Open Access |
local.identifier.drac | 15620509 |
dc.description.version | Postprint (author’s final draft) |
local.citation.author | Hernansanz, A.; Casals, A.; Amat, J. |
local.citation.publicationName | Robotics and autonomous systems |
local.citation.volume | 68 |
local.citation.startingPage | 156 |
local.citation.endingPage | 172 |
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