NDLI: Real time path smoothing schemes in teleoperation system

Content Provider	IEEE Xplore Digital Library
Author	Yang Wang Zhen Ye Xuming Xu
Copyright Year	2000
Description	Author affiliation: Dept. of Comput. Sci. & Technol., Tsinghua Univ., Beijing, China (Yang Wang)
Abstract	The Robot Teleoperation System (RTS) based on telepresence, which is aided financially by the National 863 High-Tech Development Plan, was set up by the State Key Laboratory of Intelligence Technology and Systems. This system consists of three main parts: robot control, stereo vision and hand gesture tracking. The controlled robot and the operator form a closed loop, and the operator views the robot's status and the environment through the stereo vision subsystem. RTS is developed from SAROT (an intelligent assembly robot system), which is logically divided into 5 layers: real time control, monitoring and coordination, motion planning, task scheduling and task planning. The paper proposes several active "path smoothing" schemes implemented in the system, which carry out the operator's hand gesture tracking in 7 DOF (position: 3, orientation: 3, and pitch: 1).
Starting Page	1210
Ending Page	1214
File Size	459079
Page Count	5
File Format	PDF
ISBN	078035995X
DOI	10.1109/WCICA.2000.863435
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2000-06-26
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Real time systems Smoothing methods Robot kinematics Intelligent robots Intelligent systems Robot control Stereo vision Robot vision systems Motion planning Laboratories
Content Type	Text
Resource Type	Article

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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