TY - GEN
T1 - Free space structurization of telerobotic environment for on-line transition to autonomous tele-manipulation
AU - Hasegawa, Tsutomu
AU - Mukai, Daiki
AU - Kobune, Hiroyuki
AU - Murakami, Kouji
AU - Kurazume, Ryo
PY - 2005/12/1
Y1 - 2005/12/1
N2 - This paper proposes a new approach to structuring a free space model in tele-robotic environment by using a slave manipulator equipped with a stereo vision tele-operated by a human operator. Using initial tele-operaeted motion data of the manipulator, structure of the empty space is reliably and conservatively obtained without explicit geometric model of objects in the environment. A post-processing method enables efficient acquisition of the free space model, which is then utilized to autonomously plan collision-free motion. Thus on-line transition to autonomous tele-operation from master-slave manipulation is achieved. This feature enables wider application of the tele-robotic system in unstructured environment.
AB - This paper proposes a new approach to structuring a free space model in tele-robotic environment by using a slave manipulator equipped with a stereo vision tele-operated by a human operator. Using initial tele-operaeted motion data of the manipulator, structure of the empty space is reliably and conservatively obtained without explicit geometric model of objects in the environment. A post-processing method enables efficient acquisition of the free space model, which is then utilized to autonomously plan collision-free motion. Thus on-line transition to autonomous tele-operation from master-slave manipulation is achieved. This feature enables wider application of the tele-robotic system in unstructured environment.
UR - http://www.scopus.com/inward/record.url?scp=33749051631&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=33749051631&partnerID=8YFLogxK
U2 - 10.1109/ICAR.2005.1507496
DO - 10.1109/ICAR.2005.1507496
M3 - Conference contribution
AN - SCOPUS:33749051631
SN - 0780391772
SN - 9780780391772
T3 - 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
SP - 775
EP - 781
BT - 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
T2 - 12th International Conference on Advanced Robotics, 2005. ICAR '05
Y2 - 18 July 2005 through 20 July 2005
ER -