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Proceedings Paper

Structured light system for teleautonomous and telecollaborative manipulation
Author(s): Young Soo Park; Hyosig Kang; Thomas F. Ewing
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Paper Abstract

This paper addresses the implementation of sensory basis to support enhanced teleoperation. By adopting multiple structured light systems, each of which consists of a camera and patterned beam projector, the sensor basis supposedly provides an added level of flexibility and adaptability to variable and unstructured task conditions. The technological innovations include calibration of multiple structured light systems and on-line 3D pose measurement. The application of sensory basis is demonstrated for two types of enhanced teleoperation, namely tele-autonomy and tele-collaboration. The sensory information aids in tele-autonomy by generating autonomous motions, and is utilized in tele-collaboration for generating virtual fixtures.

Paper Details

Date Published: 30 September 2003
PDF: 8 pages
Proc. SPIE 5264, Optomechatronic Systems IV, (30 September 2003); doi: 10.1117/12.516019
Show Author Affiliations
Young Soo Park, Argonne National Lab. (United States)
Hyosig Kang, Argonne National Lab. (United States)
Thomas F. Ewing, Argonne National Lab. (United States)


Published in SPIE Proceedings Vol. 5264:
Optomechatronic Systems IV
George K. Knopf, Editor(s)

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