Journal
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
Volume 15, Issue 6, Pages 2744-2753Publisher
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-016-0432-9
Keywords
Augmented display; egocentric teleoperation; egocentric view; local autonomy; operator; shared control; teleoperation; virtual fixture
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Funding
- Technology Innovation Program (Industrial Strategic technology development program) - Ministry of Knowledge Economy (MKE, Korea) [10060070]
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In this paper, an egocentric teleoperation approach to overcome human cognitive and operation limits for multi body motions (robot motions) is proposed. This approach minimizes the degrees of freedom that a human operator has to operate by providing a virtual geometric constraint on the work path;the slave robot autonomously maintains the geometric constraint. The experimental results of an operation of target fitting showed significantly less duration time and work load than the direct teleoperation.
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