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Proceedings Paper

World model and its uncertainty in supervisory robot control
Author(s): Jong H. Park; Thomas B. Sheridan
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Paper Abstract

This paper describes new methods to deal with uncertainty in the position and orientation of objects in the world model in the context of robot teleoperations. The virtual obstacle (object) is defined to represent objects with uncertainty bounds which are constructed by the operator using geometric data base and a 6 d.o.f. input device while viewing video displays. These virtual obstacles are updated as the cameras move. Also, a new method to build the world model by so called `flying-and-matching' is introduced. Experiments have been performed with human subjects to evaluate the proposed schemes.

Paper Details

Date Published: 1 March 1992
PDF: 11 pages
Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); doi: 10.1117/12.56765
Show Author Affiliations
Jong H. Park, Massachusetts Institute of Technology (United States)
Thomas B. Sheridan, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1612:
Cooperative Intelligent Robotics in Space II
William E. Stoney, Editor(s)

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