Free space structurization of telerobotic environment for on-line transition to autonomous tele-manipulation

Tsutomu Hasegawa, Daiki Mukai, Hiroyuki Kobune, Kouji Murakami, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publication2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Pages775-781
Number of pages7
DOIs
Publication statusPublished - Dec 1 2005
Event12th International Conference on Advanced Robotics, 2005. ICAR '05 - Seattle, WA, United States
Duration: Jul 18 2005Jul 20 2005

Publication series

Name2005 International Conference on Advanced Robotics, ICAR '05, Proceedings
Volume2005

Other

Other12th International Conference on Advanced Robotics, 2005. ICAR '05
CountryUnited States
CitySeattle, WA
Period7/18/057/20/05

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All Science Journal Classification (ASJC) codes

  • Engineering(all)

Cite this

Hasegawa, T., Mukai, D., Kobune, H., Murakami, K., & Kurazume, R. (2005). Free space structurization of telerobotic environment for on-line transition to autonomous tele-manipulation. In 2005 International Conference on Advanced Robotics, ICAR '05, Proceedings (pp. 775-781). [1507496] (2005 International Conference on Advanced Robotics, ICAR '05, Proceedings; Vol. 2005). https://doi.org/10.1109/ICAR.2005.1507496