Title :
Image based predictive display for tele-manipulation
Author :
Jägersand, Martin
Author_Institution :
Dept. of Comput. Sci., Yale Univ., New Haven, CT, USA
Abstract :
Presents an image based method for generating predicted immediate operator visual feedback in a robot tele-manipulation system where the real feedback is delayed. No a priori modeling or calibration is needed. The image model is generated from the real images with techniques similar to image compression. The visual-motor calibration is estimated online from the delayed real visual and robot controller feedback. Experiments with a Utah/MIT robot hand and a PUMA robot arm are shown
Keywords :
feedback; image processing; image sensors; manipulators; telerobotics; PUMA robot arm; Utah/MIT robot hand; image based method; image based predictive display; predicted immediate operator visual feedback; tele-manipulation; visual-motor calibration; Calibration; Cameras; Delay; Displays; Feedback; Humans; Image coding; Layout; Motion pictures; Robots;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.770034
