Teleoperation system using past image records for mobile manipulator

Author

Murata, Ryosuke ; Songtong, Sira ; Mizumoto, Hisashi ; Kon, Kazuyuki ; Matsuno, Fumitoshi

Author_Institution

Dept. of Mech. Eng. & Sci., Kyoto Univ., Kyoto, Japan

fYear

2014

fDate

14-18 Sept. 2014

Firstpage

4340

Lastpage

4345

Abstract

Teleoperation system using past image records (SPIR) is a system that provides the third-person view image to the operator for the robot operation. The image is visually generated by overlaying the CG model of the robot on the background image taken by the robot-mounted camera at a past time. In this paper, we proposed a new user interface based on SPIR for the teleoperation of a mobile manipulator. By using the proposed user interface, the operator can control the end effector´s position and orientation intuitively while looking the end effector from the third-person viewpoint.

Keywords

cameras; computer graphics; control engineering computing; end effectors; mobile robots; position control; robot vision; telerobotics; user interfaces; CG model; SPIR; background image; end effector orientation; end effector position; image visual generation; mobile manipulator; past image records; robot operation; robot-mounted camera; teleoperation system; third-person view image; user interface; Cameras; Manipulators; Mobile communication; Robot vision systems; User interfaces;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on

Conference_Location

Chicago, IL

Type

conf

DOI

10.1109/IROS.2014.6943176

Filename

6943176