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Published April 2000 | public
Book Section - Chapter

An Intelligent Vision-only Operator Interface for Dexterous Robots

Abstract

The development of a vision-only intelligent interface for dexterous robots is described, capable of tracking operator motions: evaluating trajectory feasibility, and providing visual feedback to the operator. This interface analyses the operator's arm motion for safety, and then converts it into trajectory commands for a mechanical arm. Potentially dangerous situations, such as singularity and self collision, are displayed to the operator as graphical icons superimposed over the robot video images. The paper summarizes the main features of the current implementation, presents the approach developed for singularity identification and describes the performance of the demonstration prototype.

Additional Information

© 2000 IEEE. Date of Current Version: 06 August 2002. The research described in this paper has been carried out in part at the Jet Propulsion Laboratory, California Institute of Technology, under contract with the National Aeronautics and Space Administration. Dr. Tsumaki research at JPL is supported by a grant from the Ministry of Education, Science, Sports and Culture of Japan (MONBUSHO).

Additional details

Created:
August 19, 2023
Modified:
October 24, 2023