Deutsch
 
Hilfe Datenschutzhinweis Impressum
  DetailsucheBrowse

Datensatz

DATENSATZ AKTIONENEXPORT
  Whole Body Multi-Modal Semi-Autonomous Teleoperation System of Mobile Manipulator

Ha, C.-S., Park, S., Her, J., Jang, I., Lee, Y., Cho, G., et al. (2015). Whole Body Multi-Modal Semi-Autonomous Teleoperation System of Mobile Manipulator. In IEEE International Conference on Robotics and Automation (ICRA 2015) (pp. 164-170). Piscataway, NJ, USA: IEEE.

Item is

Externe Referenzen

einblenden:
ausblenden:
Beschreibung:
-
OA-Status:

Urheber

einblenden:
ausblenden:
 Urheber:
Ha, C-S, Autor
Park, S, Autor
Her, J, Autor
Jang, I, Autor
Lee, Y, Autor
Cho, GR, Autor
Son, HI1, Autor           
Lee, D, Autor
Affiliations:
1Department Human Perception, Cognition and Action, Max Planck Institute for Biological Cybernetics, Max Planck Society, ou_1497797              

Inhalt

einblenden:
ausblenden:
Schlagwörter: -
 Zusammenfassung: We propose a novel whole-body multi-modal semiautonomous teleoperation framework for mobile manipulator systems, which consists of: 1) Motion capture and whole-body motion mapping to allow the operator to intuitively teleoperate the mobile manipulator without being constrained by the master interface while also fully exploiting whole-body dexterity; 2) Slave robot autonomous control to allow the mobile manipulator to optimally track the operator's whole-body command, while taking into account the user-slave kinematic dissimilarity (slave robot's joint limit, joint velocity limit, and singularity); and 3) Visuo-haptic-vestibular feedback with HMD (Head Mounted Display) for 3D visual information, wearable cutaneous haptic device for manipulation force feedback, and actuated chair for vestibular feedback to reduce HMD-induced motion sickness. Performance of the proposed framework is validated with simulation of a ROV (remotely operated vehicle) manipulator system and some preliminary user studies.

Details

einblenden:
ausblenden:
Sprache(n):
 Datum: 2015-05
 Publikationsstatus: Erschienen
 Seiten: -
 Ort, Verlag, Ausgabe: -
 Inhaltsverzeichnis: -
 Art der Begutachtung: -
 Identifikatoren: DOI: 10.1109/ICRA.2015.7138995
BibTex Citekey: HaPHJLCSL2015
 Art des Abschluß: -

Veranstaltung

einblenden:
ausblenden:
Titel: IEEE International Conference on Robotics and Automation (ICRA 2015)
Veranstaltungsort: Seattle, WA, USA
Start-/Enddatum: -

Entscheidung

einblenden:

Projektinformation

einblenden:

Quelle 1

einblenden:
ausblenden:
Titel: IEEE International Conference on Robotics and Automation (ICRA 2015)
Genre der Quelle: Konferenzband
 Urheber:
Affiliations:
Ort, Verlag, Ausgabe: Piscataway, NJ, USA : IEEE
Seiten: - Band / Heft: - Artikelnummer: - Start- / Endseite: 164 - 170 Identifikator: ISBN: 978-1-4799-6923-4