Shared and traded telerobotic visual control

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Scopus citations

Abstract

The authors address the problem of integrating the human operator with autonomous robotic visual tracking and servoing modules. A CCD (charge coupled device) camera is mounted on the end-effector of a robot and the task is to servo around a static or moving rigid target. In manual control mode, the human operator, with the help of a joystick and a monitor, commands robot motions in order to compensate for tracking errors. In shared control mode, the human operator and the autonomous visual tracking modules command motion along orthogonal sets of degrees of freedom. In autonomous control mode, the autonomous visual tracking modules are in full control of the servoing functions. Finally, in traded control mode, the control can be transferred from the autonomous visual modules to the human operator and vice versa. The authors present an experimental setup where all these different schemes have been tested. Experimental results of all modes of operation are presented and the related issues are discussed. In certain degrees of freedom the autonomous modules perform better than the human operator. On the other hand, the human operator can compensate fast for failures in tracking while the autonomous modules fail.

Original languageEnglish (US)
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages878-885
Number of pages8
ISBN (Print)0818627204
StatePublished - Apr 1 1992
EventProceedings 1992 IEEE International Conference on Robotics and Automation - Nice, Fr
Duration: May 12 1992May 14 1992

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume1

Other

OtherProceedings 1992 IEEE International Conference on Robotics and Automation
CityNice, Fr
Period5/12/925/14/92

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