Enhanced Teleoperation Through Virtual Reality Techniques

Kheddar, Abderrahmane; Neo, Ee Sian; Tadakuma, Riichiro; Yokoi, Kazuhito

doi:10.1007/978-3-540-71364-7_10

Cited by 19 publications

(13 citation statements)

References 16 publications

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“…Another option is to use a virtual environment (VE) to present a virtual dynamic model of the remote location. This method has several advantages (Kheddar, Neo, Tadakuma, & Yokoi, 2007), considering that a VE can provide:…”

Section: Classification Of Teleoperation Systemsmentioning

confidence: 99%

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Westerberg

Shiriaev

2013

Journal of Human-Robot Interaction

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Virtual environment-assisted teleoperation has great potential as a human-robot interaction paradigm for field robotic systems, in particular when combined with elements of automation. Unstructured outdoor environments present a complex problem with many challenging elements. For the specific application of forestry machines, we investigate which steps are required in order to implement such a system, what potential benefits there are, and how individual components can be adapted to efficiently assist forestry machine operators in their daily work in the near future. An experimental prototype of a teleoperation system with virtual environment-based feedback is constructed using a scenario-based design process. The feasibility of the implementation is partly verified through experimental studies.

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Section: Classification Of Teleoperation Systemsmentioning

confidence: 99%

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Westerberg

Shiriaev

2013

Journal of Human-Robot Interaction

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“…In a typical bilateral teleoperation system, the master robot is used to enhance the force and the reach of the user, the slave robot is therefore a big and powerful machine when compared with the former (Khatib et al 2004, Turro et al 2001, Kheddar et al 2007). Substitution of the remote slave robot along with its environment for an interactive virtual world results in a more efficient way to Corresponding author: Claudia Marmolejo-Rivas Email: clamarmol@aol.com carry out experiments during teleoperation system development phase; the safety of both the user and equipment is a non-negligible additional advantage (Duriez et al 2002, Marmolejo et al 2005.…”

Section: Introductionmentioning

confidence: 98%

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Zannatha¹,

Marmolejo-Rivas²,

Ferre-Pérez³

et al. 2007

Applied Bionics and Biomechanics

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The aim of this work is the integration of a virtual environment containing a deformable object, manipulated by an open kinematical chain virtual slave robot, to a bilateral teleoperation scheme based on a real haptic device. The virtual environment of this hybrid bilateral teleoperation system combines collision detection algorithms, dynamical, kinematical and geometrical models with a position-position and/or force-position bilateral control algorithm, to produce on the operator side the reflected forces corresponding to the virtual mechanical interactions, through a haptic device. Contact teleoperation task over the virtual environment with a flexible object is implemented and analysed.

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“…In this paper, we are interested in realizing a teleoperation system that allows for remotely controlling a humanoid which is performing a joint physical collaborative task with another, onsite, human. So far, humanoid robots have been teleoperated using supervisory control to generate whole body motion and bilateral coupling to control the hand and foot positions [4], or using advanced virtual reality technology [5].…”

Section: Introductionmentioning

confidence: 99%

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

Evrard¹,

Mansard²,

Stasse³

et al. 2009

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems

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International audience— This paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant humanoid robot. Experiments have been performed to assess the proposed control scheme. They bring to light additional scientific challenges that remain in order to reach a smooth and natural telepresent collaboration

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Enhanced Teleoperation Through Virtual Reality Techniques

Cited by 19 publications

References 16 publications

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Virtual Environment-Based Teleoperation of Forestry Machines: Designing Future Interaction Methods

Haptic Manipulation of Deformable Objects in Hybrid Bilateral Teleoperation System

Intercontinental, multimodal, wide-range tele-cooperation using a humanoid robot

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