Fiorini, Paolo and Chalfant, Gene and Tsumaki, Yuichi and Di Bernardo, Enrico and Perona, Pietro (2000) An Intelligent Vision-only Operator Interface for Dexterous Robots. In: 2000 IEEE International Conference on Robotics and Automation. IEEE , Piscataway N.J., pp. 2665-2670. ISBN 0-7803-5886-4 http://resolver.caltech.edu/CaltechAUTHORS:20111128-094641876
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The development of a vision-only intelligent interface for dexterous robots is described, capable of tracking operator motions: evaluating trajectory feasibility, and providing visual feedback to the operator. This interface analyses the operator's arm motion for safety, and then converts it into trajectory commands for a mechanical arm. Potentially dangerous situations, such as singularity and self collision, are displayed to the operator as graphical icons superimposed over the robot video images. The paper summarizes the main features of the current implementation, presents the approach developed for singularity identification and describes the performance of the demonstration prototype.
|Item Type:||Book Section|
|Additional Information:||© 2000 IEEE. Date of Current Version: 06 August 2002. The research described in this paper has been carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration. Dr. Tsumaki research at JPL is supported by a grant from the Ministry of Education, Science, Sports and Culture of Japan (MONBUSHO).|
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|Official Citation:||Fiorini, P.; Chalfant, G.; Tsumaki, Y.; di Bernardo, E.; Perona, P.; , "An intelligent vision-only operator interface for dexterous robots ," Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on , vol.3, no., pp.2665-2670 vol.3, 2000 doi: 10.1109/ROBOT.2000.846430 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=846430&isnumber=18287|
|Usage Policy:||No commercial reproduction, distribution, display or performance rights in this work are provided.|
|Deposited By:||Ruth Sustaita|
|Deposited On:||28 Nov 2011 18:24|
|Last Modified:||28 Nov 2011 18:24|
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