NDLI: Design and Evaluation of a Telepresence Vision System for Manipulation Tasks

Content Provider	IEEE Xplore Digital Library
Author	Shiratsuchi, K. Kawata, K. Poorten, E.V. Yokokohji, Y.
Copyright Year	2007
Description	Author affiliation: Dept. of Mech. Eng. & Sci., Kyoto Univ. (Shiratsuchi, K.; Kawata, K.; Poorten, E.V.; Yokokohji, Y.)
Abstract	This paper describes the design of a new telepresence vision system developed to realize a higher immersive feeling for telemanipulation tasks. A new measure of 'permissible visual errors' was defined. Making use of this new measure, a minimal vision system is designed, containing only the strictly necessary DOF's (degrees of freedom) while keeping the vision errors below an experimentally obtained set of permissible errors. The result is a 4DOF camera system, containing two rotational joints (pan-tilt) and two prismatic joints (horizontal plane.) An evaluation of the system was done through a telemanipulation task using a unified hand/arm teleoperation testbed. It was found that during use of the vision system almost all visual errors remained within the permissible errors. The proposed vision system design framework suggests to break away from simply (and often blindly) mimicking human appearance. Although we only dealt with the vision system design, the same concept could be used when designing any other part of a robot.
Sponsorship	IEEE Robotics and Automation Soc
Starting Page	4313
Ending Page	4318
File Size	1540841
Page Count	6
File Format	PDF
ISBN	1424406013
ISSN	10504729
DOI	10.1109/ROBOT.2007.364143
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-04-10
Publisher Place	Italy
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Machine vision Cameras Humans Robot sensing systems Orbital robotics Robot vision systems Control systems Sea measurements Humanoid robots Auditory displays
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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