TY - GEN
T1 - Telemanipulation via Internet based on human-robot cooperation
AU - Lian, Guangyu
AU - Cui, Jinshi
AU - Qingjie, Zhao
AU - Zhipu, Jin
AU - Sun, Zengqi
N1 - Publisher Copyright:
© 2001 IEEE.
PY - 2001
Y1 - 2001
N2 - A command fusion based human-robot cooperation strategy in telerobotic systems is presented. The robotic task execution is segmented into four stages, namely free motion, contact motion, constraint motion and dexterous operation. At each stage, human and robot can send out respective commands based on their own evaluation of the task execution. A uniform formulation is proposed to describe the fusion process. These commands can be fused to produce a proper resultant output to the low level controller supported by the robot intelligence, which consists of model-based and sensor-based autonomous capabilities. The cooperation can ensure the collision and singularity free motion, the stable and safe contact with the environment, the shared control-based constraint motion and semi-autonomy based dexterous operation. The design of our telerobotic system is described and a telemanipulation experiment via Internet is introduced.
AB - A command fusion based human-robot cooperation strategy in telerobotic systems is presented. The robotic task execution is segmented into four stages, namely free motion, contact motion, constraint motion and dexterous operation. At each stage, human and robot can send out respective commands based on their own evaluation of the task execution. A uniform formulation is proposed to describe the fusion process. These commands can be fused to produce a proper resultant output to the low level controller supported by the robot intelligence, which consists of model-based and sensor-based autonomous capabilities. The cooperation can ensure the collision and singularity free motion, the stable and safe contact with the environment, the shared control-based constraint motion and semi-autonomy based dexterous operation. The design of our telerobotic system is described and a telemanipulation experiment via Internet is introduced.
UR - https://www.scopus.com/pages/publications/84964644473
U2 - 10.1109/ICII.2001.983828
DO - 10.1109/ICII.2001.983828
M3 - Conference contribution
AN - SCOPUS:84964644473
T3 - 2001 International Conferences on Info-Tech and Info-Net: A Key to Better Life, ICII 2001 - Proceedings
SP - 256
EP - 262
BT - 2001 International Conferences on Info-Tech and Info-Net
A2 - Zhong, Y.X.
A2 - Qin, Shi-Yin
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - International Conferences on Info-Tech and Info-Net, ICII 2001
Y2 - 29 October 2001 through 1 November 2001
ER -