NDLI: Constraint-based haptic rendering of point data for teleoperated robot grasping

Content Provider	IEEE Xplore Digital Library
Author	Leeper, A. Chan, S. Kaijen Hsiao Ciocarlie, M. Salisbury, K.
Copyright Year	2012
Description	Author affiliation: Depts. of Computer, Science and Surgery, Stanford University, USA (Ciocarlie, M.) \|\| Willow Garage Inc., USA (Kaijen Hsiao) \|\| Department of Mechanical Engineering, Stanford University, USA (Leeper, A.) \|\| Department of Computer Science, Stanford University, USA (Chan, S.)
Abstract	We present an efficient 6-DOF haptic algorithm for rendering interaction forces between a rigid proxy object and a set of unordered point data. We further explore the use of haptic feedback for remotely supervised robots performing grasping tasks. The robot captures the geometry of a remote environment (as a cloud of 3D points) at run-time using a depth camera or laser scanner. An operator then uses a haptic device to position a virtual model of the robot gripper (the haptic proxy), specifying a desired grasp pose to be executed by the robot. The haptic algorithm enforces a proxy pose that is non-colliding with the observable environment, and provides both force and torque feedback to the operator. Once the operator confirms the desired gripper pose, the robot computes a collisionfree arm trajectory and executes the specified grasp. We apply this method for grasping a wide range of objects, previously unseen by the robot, from highly cluttered scenes typical of human environments. Our user experiment (N=20) shows that people with no prior experience using the visualization system on which our interfaces are based are able to successfully grasp more objects with a haptic device providing force-feedback than with just a mouse.
Starting Page	377
Ending Page	383
File Size	851934
Page Count	7
File Format	PDF
ISBN	9781467308083
e-ISBN	9781467308090
e-ISBN	9781467308076
DOI	10.1109/HAPTIC.2012.6183818
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-03-04
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Grippers Grasping Rendering (computer graphics) Mice Robot sensing systems
Content Type	Text
Resource Type	Article

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