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Proceedings Paper

Structured beam projection for semiautomatic teleoperation
Author(s): Young Soo Park
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Paper 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.

Paper Details

Date Published: 12 February 2001
PDF: 10 pages
Proc. SPIE 4190, Optomechatronic Systems, (12 February 2001); doi: 10.1117/12.417226
Show Author Affiliations
Young Soo Park, Argonne National Lab. (United States)

Published in SPIE Proceedings Vol. 4190:
Optomechatronic Systems
Hyungsuck Cho; George K. Knopf, Editor(s)

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