Title :
Toward on-line transition to autonomous teleoperation from master-slave manipulation
Author :
Hasegawa, Tsutornu ; Nakagawa, Kousuke ; Murakami, Kouji
Author_Institution :
Dept. of Intelligent Syst., Kyushu Univ., Fukuoka, Japan
fDate :
April 26-May 1, 2004
Abstract :
A new approach to telerobotic manipulation is proposed. Using swept volume of a slave manipulator tele-operated initially by a human operator, on-line transition to autonomous tele-operation from master-slave manipulation is achieved without any geometric model of the object in an environment. This feature enables wider application in an unstructured environment.
Keywords :
collision avoidance; manipulators; mobile robots; telerobotics; autonomous teleoperation; geometric model; human operator; master-slave manipulation; online transition; slave manipulator; telerobotic manipulation; unstructured environment; Collision avoidance; Computer vision; Humans; Information science; Intelligent systems; Joining processes; Manipulators; Master-slave; Motion planning; Solid modeling;
Conference_Titel :
Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on
Print_ISBN :
0-7803-8232-3
DOI :
10.1109/ROBOT.2004.1308840
