Model-Based Space Robot Teleoperation of ETS-VII Manipulator

Yoon, Woo-Keun; Goshozono, T.; Kitamura, Hiroshi; Kinami, Masahiro; Tsumaki, Yuichi; Uchiyama, Masaru; Oda, Mitsushige; Doi, Toshiya

doi:10.1109/tra.2004.824700

Cited by 143 publications

(45 citation statements)

References 17 publications

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“…One of the main tasks of a MMT system is to estimate the environment parameters [16][17][18][19][20][21][22][23][24]. In [16], a damper-spring model is adopted to approximate the environment, and a sliding average least-square algorithm is proposed to estimate the dynamic parameters of the environment on the slave side for online updating of the virtual model parameters on the master side in the presence of large communication delay.…”

Section: Model-mediated Teleoperationmentioning

confidence: 99%

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Çizmeci

Al-Nuaimi

et al. 2014

IEEE Trans. Instrum. Meas.

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In this paper, we extend the concept of model-mediated teleoperation (MMT) for complex environments and six degrees of freedom interaction using point cloud surface models. In our system, a time-of-flight camera is used to capture a high resolution point cloud model of the object surface. The point cloud model and the physical properties of the object (stiffness and surface friction coefficient) are estimated at the slave side in real-time and transmitted to the master side using the modeling and updating algorithm proposed in this work. The proposed algorithm adaptively controls the updating of the point cloud model and the object properties according to the slave movements and by exploiting known limitations of human haptic perception. As a result, perceptually irrelevant transmissions are avoided, and thus the packet rate in the communication channel is substantially reduced. In addition, a simple point cloud-based haptic rendering algorithm is adopted to generate the force feedback signals directly from the point cloud model without first converting it into a 3D mesh. In the experimental evaluation, the system stability and transparency are verified in the presence of a round-trip communication delay of up to 1000ms. Furthermore, by exploiting the limits of human haptic perception the presented system allows for a significant haptic data reduction of about 90% for teleoperation systems with time delay. Index Termsmodel-mediated teleoperation, model-update, packet rate reduction, point cloud-based haptic rendering.

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Section: Model-mediated Teleoperationmentioning

confidence: 99%

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Çizmeci

Al-Nuaimi

et al. 2014

IEEE Trans. Instrum. Meas.

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“…This concept is used wherever it is considered useful to combine the computational efficiency, precision, or sturdiness of machines with the perception ability and decision-making processes of humans. As a result, teleoperation technology for robotic systems has been considered, developed, or used for a large spectrum of tasks, e.g., for work in mining (Duff et al, 2009), nuclear facilities (Qian, Song, Bao, & Zhang, 2012), agriculture (Murakami et al, 2008), surgery (Tobergte, Konietschke, & Hirzinger, 2009), space robotics (Yoon et al, 2004), and even surgery in space (Haidegger & Benyo, 2008).…”

Section: Related Workmentioning

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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“…Unfortunately, the exact match between virtual model and real system can never be guaranteed, which would make perfect performance of teleoperation impossible. Virtual environment based technology has also been successfully utilized in ETS-7 [11], ROTEX [12]. However, the virtual environment based technology depends strongly on the accuracy of the virtual environment.…”

Section: Introductionmentioning

confidence: 99%

Balancing of a virtual inverted pendulum through Internet based on prediction method

Hua

Cui

Wang

et al. 2013

2013 IEEE International Conference on Mechatronics and Automation

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-This paper proposes a method for balancing a virtual inverted pendulum through Internet based on the prediction of jitter of Internet one-way time delay. The sparse multivariate linear regression method is used to give prediction on Internet time delay jitter The remote virtual pendulum can be controlled with an identical virtual pendulum model displayed on the screen of the master site, which is updated according to historical commands transmitted to the slave site and Internet jitter prediction results. In the experiments, operators succeed in balancing the remote virtual pendulum through the Internet, which demonstrate the effectiveness and prospect of the proposed Internet based control method.

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Model-Based Space Robot Teleoperation of ETS-VII Manipulator

Cited by 143 publications

References 17 publications

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

Point Cloud-Based Model-Mediated Teleoperation With Dynamic and Perception-Based Model Updating

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

Balancing of a virtual inverted pendulum through Internet based on prediction method

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