A phase management framework for event-driven dextrous manipulation

Hyde, James M.; Cutkosky, Mark R.

doi:10.1109/70.736781

Cited by 11 publications

(7 citation statements)

References 28 publications

(17 reference statements)

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“…The transition between independent and coordinated manipulation is based on signals from force and tactile sensors, following the approach of Hyde (1995). For manipulation of a grasped object, the controller must first map the operator's finger motions to the corresponding motions of a virtual object held in the hand.…”

Section: Control Frameworkmentioning

confidence: 99%

“…We are interested in both independent control of the fingers (for exploration) and coordinated control for manipulating grasped objects. Following the approach of Hyde (1995) and Schneider and Cannon (1989), the dynamics are computed using Khatib's (1987) operational space formulation, with Hogan's (1985) impedance control to specify the behavior with respect to disturbances. The impedance control loop runs at 1 kHz and the hand has a closedloop bandwidth of approximately 10 Hz for small motions of the grasped object.…”

Section: Control Frameworkmentioning

confidence: 99%

See 1 more Smart Citation

Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces

Griffin

Provancher

Cutkosky

2005

Presence: Teleoperators & Virtual Environments

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Shared control represents a middle ground between supervisory control and traditional bilateral control in which the remote system can exert control over some aspects of the task while the human operator maintains access to low-level forces and motions. In the case of dexterous telemanipulation, a natural approach is to share control of the object handling forces while giving the human operator direct access to remote tactile and force information at the slave fingertips. We describe a set of experiments designed to determine whether shared control can improve the ability of an operator to handle objects delicately and to determine what combinations of force, visual, and audio feedback provide the best level of performance and operator sense of presence. The results demonstrate the benefits of shared control and the need to carefully choose the types and methods of direct and indirect feedback.

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Section: Control Frameworkmentioning

confidence: 99%

Section: Control Frameworkmentioning

confidence: 99%

Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces

Griffin

Provancher

Cutkosky

2005

Presence: Teleoperators & Virtual Environments

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“…The inputs set is given by as well as by physiologists studying human manipulation, that RI = {0 _ high _ velocity, 1 _ mid -velocity, 2 _ low_ velocity} a dextrous manipulation task can generally be decomposed into a sequence of control phases punctuated by events. For example, as the hand approachs an object it is often driven p (k +1) 2( p (k),X(k)) (11) using position control, but after the hand contact the object, it c (k) p (k) (12) is commanded to maintain control of internal forces. In this example, the sensation of contact is an event that signals the transition from one control phase to the next.…”

Section: Implementation Of the Hybrid Framework On Amentioning

confidence: 99%

“…In this example, the sensation of contact is an event that signals the transition from one control phase to the next. Decomposition X z of a task into phases reduces the complexity of the control problem, as a single control law can be applied during each phase [12][13] [14].…”

Section: Implementation Of the Hybrid Framework On Amentioning

confidence: 99%

A Hybrid Control Method for Telerobotic Systems

Hua

Wang

2006

2006 IEEE International Conference on Information Acquisition

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A hybrid control method for telerobotic systems the continuous-time system will be the robot and its which considers simultaneously the control and decision-making continuous controller. By contrast, the discrete event system issues is presented in this paper. Telerobotic system is a typical will be a high-level, abstract decision-maker which issues hybrid system which contains both continuous-time and discrete commands to the continuous-time system. event dynamics. Specifically, the robot can be considered as a continuous-time system modeled customarily by differential Although r ca be analyze ad ined equations or difference equations, and the human operator systematically and much progress has been made in hybrid whose function is to generate commands for robot located in the framework, the limitations of sensors and computer remote side, however, can be modeled by an automaton. As a intelligence prohibit the use of completely autonomous result, telerobotic system is a heterogeneous system and the systems. It is still true that not all events can be considered heterogeneity can be characterized by the fact that humans are within off-line task scheduling. Many unexpected events in intelligent while robots are fast, powerful and accurate. From the automatically controlled process can be handled only by point of view of control, a hybrid framework is of key human operators [5]. A combination of human intelligence importance for the study of such a system. In this paper, the with the mechanical abilities of robotic systems would make specific problems to be discussed include developing a robot adaptable. As a result, human/machine cooperation framework in which both the robotic system and the human b operator can be modeled simultaneously, and introducing how to becomes an especially interesting research topic. A truly apply this framework in a real teleoperated manipulator system. intelligent system should be able to work in conjunction with The main contribution of this paper is the development of a people [6]. Telerobotic systems can be considered as a kind of mathematical model which incorporates human intervention into typical human/machine cooperation system. In [7], dynamic an autonomous control model. models for human operators have been obtained. However, human operators are not like autonomous controllers which Index Terms -Hybrid control, Telerobotic systems, Hybrid can be used to produce almost all kinds of control inputs. In system telerobotic systems, robots work tirelessly, faster, more powerfully, and more accurately than human operators, while human operators are more intelligent and more adept than A robot is an apparatus or device that can be programmed robots, play the role of command generators and can produce to perform tasks of manipulation under automatic control. The quick decision according to various feedback information. ultimate objective of robotics research is to developThe robot is a continuous-time system and can be modeled by autonomous robot systems which can be used to do some di...

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“…In this example, the sensation of contact is an event that signals the transition from one control phase to the next. Decomposition of a task into phases reduces the complexity of the control problem, as a single control law can be applied during each phase [12][13] [14].…”

Section: Implementation Of the Hybrid Framework On A Real Teleopmentioning

confidence: 99%

Modeling and Control of Teleoperated Manipulator System Based on Hybrid Control Method

Hua

Wang

et al. 2006

Sixth International Conference on Intelligent Systems Design and Applications

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-A method based on hybrid control theory for modeling and control of teleoperated manipulator system is presented in this paper. In telerobotic systems, human operator plays the role of a command generator which produces commands in real time according to information fed back. However, telerobotic system is a heterogeneous system and the heterogeneity can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. Human operator is different from autonomous planner in robotic systems in that he can not generate continuous control inputs to the remote robot. As a result, telerobotic system is a typical hybrid system which contains both continuous-time and discrete event dynamics. Specifically, the robot can be considered as a continuous-time system described customarily by differential equations or difference equations, and the human operator can be modeled by an automaton. A hybrid framework is of key importance for the study of such a system. The problems to be discussed in this paper include developing a framework in which both the robotic system and the human operator can be modeled simultaneously, and introducing how to implement this framework in a real teleoperated manipulator system.

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A phase management framework for event-driven dextrous manipulation

Cited by 11 publications

References 28 publications

Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces

Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces

A Hybrid Control Method for Telerobotic Systems

Modeling and Control of Teleoperated Manipulator System Based on Hybrid Control Method

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