The guidance subsystem of a remotely controlled autonomous robot in the physical agent system (PAS)

Author

Ikeuchi, Yasuyuki ; Endo, Kazuto ; Watanabe, Kouki ; Mizukawa, Makoto ; Ando, Yoshinobu

Author_Institution

Dept. of Electr. Eng., Shibaura Inst. of Technol., Tokyo, Japan

fYear

2004

fDate

20-22 Sept. 2004

Firstpage

271

Lastpage

276

Abstract

The purpose of this research is to provide a sensory feedback about distance information in the remotely controlled autonomous robot systems. The distance information to the target object, pointed by a laser pointer operated from remote place, is measured by triangular principle coupled with a CCD camera. In this research, force feedback is used, in order to display the distance information to an operator. As a result of this research, an operator can perform robot operation with a spatial feel. This paper evaluates and describes the relation between the force feedback patterns and distance recognition.

Keywords

CCD image sensors; force feedback; mobile robots; position control; telerobotics; CCD camera; distance recognition; force feedback; guidance subsystem; laser pointer; physical agent system; remotely controlled autonomous robot; sensory feedback; Charge coupled devices; Charge-coupled image sensors; Control systems; Force feedback; Laser feedback; Laser theory; Optical coupling; Robot control; Robot sensing systems; Robot vision systems;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2004. ROMAN 2004. 13th IEEE International Workshop on

Print_ISBN

0-7803-8570-5

Type

conf

DOI

10.1109/ROMAN.2004.1374772

Filename

1374772