Vision-based virtual force guidance for tele-robotic system

Authors:
Tao Ni;Hongyan Zhang;Peng Xu;Hironao Yamada
Affiliations:
College of Mechanical Science and Engineering, Jilin University, Changchun 5988, China;College of Mechanical Science and Engineering, Jilin University, Changchun 5988, China;College of Mechanical Science and Engineering, Jilin University, Changchun 5988, China;Department of Mechanical & Systems Engineering, Gifu University, Gifu City 501-1193, Japan
Venue:
Computers and Electrical Engineering
Year:
2013

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Abstract

In order to improve operator performance and understanding within remote environment, a vision-based virtual forced guidance control methodology for tele-robotic system is presented. The remote operation of the construction robot is achieved by manipulating the graphic robot in a virtual environment. Based on binocular vision, the ground surface is modeled as an elevation map, and the task objects are recognized from video images and reconstructed using the Power Crust algorithm. The virtual guidance forces consisting of a pair of attractive force and repulsive force from the objects and obstacles are used to enhance the multi-task manipulation of the tele-robotic system.