Structured beam projection for semiautomatic teleoperation

Young Soo Park

doi:10.1117/12.417226

12 February 2001 Structured beam projection for semiautomatic teleoperation

Young Soo Park

Proceedings Volume 4190, Optomechatronic Systems; (2001) https://doi.org/10.1117/12.417226
Event: Intelligent Systems and Smart Manufacturing, 2000, Boston, MA, United States

Abstract

12 This paper presents a robotic architecture that facilitates semi-automatic teleoperation of a dual-arm manipulator system. The architecture is built upon reactive behavior agents tightly coupling sensing and action, where emergent behaviors correlate human intervention with sensor-based autonomous operation. Reactive agents are devised for perceptual and motor behaviors, and a structured light system is adopted to provide a visual reference to both behavioral agents and the human operator. The technical feasibility of the robotic behaviors is evaluated through simulation of the collaborative motion of a dual-arm manipulator. The presented sensor based semi-automatic teleoperation may improve human perception and simplify human action, and thus improve the efficiency and precision of teleoperation.

Citation Download Citation

Young Soo Park "Structured beam projection for semiautomatic teleoperation", Proc. SPIE 4190, Optomechatronic Systems, (12 February 2001); https://doi.org/10.1117/12.417226

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