An object-coordinate-based bilateral control system using visual information

Yu Nakajima; Takahiro Nozaki; Yuji Oyamada; Kouhei Ohnishi

doi:10.1002/ecj.11464

An object-coordinate-based bilateral control system using visual information

Yu Nakajima, Takahiro Nozaki, Yuji Oyamada, Kouhei Ohnishi

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by assuming some of their tasks. An experiment is conducted to demonstrate the benefit of the proposed method using a 1-DOF master robot and a 2-DOF slave robot.

Original language	English
Pages (from-to)	41-49
Number of pages	9
Journal	Electronics and Communications in Japan
Volume	96
Issue number	8
DOIs	https://doi.org/10.1002/ecj.11464
Publication status	Published - 2013 Aug

Keywords

bilateral control
computer vision
haptics
master-slave system
posture estimation
visual servo

ASJC Scopus subject areas

Electrical and Electronic Engineering
Computer Networks and Communications
Physics and Astronomy(all)
Signal Processing
Applied Mathematics

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10.1002/ecj.11464

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AU - Oyamada, Yuji

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AB - In the field of teleoperation, visual or tactile information obtained by the operators is restricted (e.g., limited or delayed sight) because of communication constraints. Therefore, it is difficult for the operators to operate the system. In this paper, a bilateral control system using environmental information about the position and posture of a target as obtained by a camera is proposed. The proposed method reduces the workload of the operators by assuming some of their tasks. An experiment is conducted to demonstrate the benefit of the proposed method using a 1-DOF master robot and a 2-DOF slave robot.

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KW - computer vision

KW - haptics

KW - master-slave system

KW - posture estimation

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An object-coordinate-based bilateral control system using visual information

Abstract

Keywords

ASJC Scopus subject areas

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