Tele-robots with shared autonomy: tele-presence for high level operability

نویسندگان

  • Thomas Geerinck
  • Valentin Enescu
  • Ioan Alexandru Salomie
  • Sid Ahmed Berrabah
  • Kenny Cauwerts
  • Hichem Sahli
چکیده

The aim is to improve the operability of an advanced demonstration platform incorporating reflexive teleoperated control concepts developed on a mobile robot system. The robot is capable of autonomously navigating in semi-structured environments. Reflexive tele-operation mode employs the robot extensive onboard sensor suite to prevent collisions with obstacles when the human operator assumes control and remotely drives the robot to investigate a situation of interest. For the shared autonomy aspect, four levels of autonomy have been implemented: tele-operation, safe mode, shared autonomy and autonomous mode. The operability level is enhanced by improving significantly the situational awareness of the operator by using an inertial tracker in combination with a head mounted display creating a certain feeling of presence. As such, the system permits precision observation and pinpoint data collection without subjecting the user to a possibly hazardous remote environment.

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Tele-Science by Planetary Rover : Micro 5

In this paper, we propose the method of constructing the operation environment with the manipulator to gather the sample for the planetary mission, and also describe the development of the 5 Degree-Of-Freedom micro manipulator for the telescience. Command Distortion Compensation is also presented for Continuous Real-time Tele-driving with the time-delay. I . Introduction Recently, it has become...

متن کامل

Internet based robotic tele presence

Acknowledgments First of all, I wish to thank my advisor Armin B. Cremers for his guidance, encouragement, and patience. I thank Wolfram Burgard for his willingness to be the co-referent. I am grateful to both of them for offering me the opportunity to work on the Robotic Tele-Presence Lab (RTL) Project, a part of KI-NRW/Virtual Knowledge Factory, headed by Armin B. Cremers and Wolfram Burgard,...

متن کامل

Predictive Interfaces for Long-distance Tele-operations

Humanoid robots have a practical advantage over other robotic platforms for use in space-based construction and maintenance because they can share tools and work interactively with astronauts. A major disadvantage is that they are difficult to control due to the large number of degrees of freedom, which makes it difficult to synthesize autonomous behavior using conventional means. We address th...

متن کامل

The effect of pressure ulcer prevention care training by tele-nursing on the extent and severity of pressure ulcers in patients with stroke

Background & Aim: Patients with stroke are at risk for pressure ulcers. Continuous presence and direct care of the nurse in preventing this complication is not possible in all cases. Therefore, the present study aimed to investigate the effect of pressure ulcer prevention care training by tele-nursing on the amount and severity of pressure ulcers in patients with stroke.  Methods: This quasi-e...

متن کامل

Motion Control of Excavator with Tele-Operated System

The number of dismantling sites for buildings has been rapidly increased and these processes are very dangerous. So many research papers have been published addressing the development of a remote controller for the dismantling equipments. In this paper, a novel concept of applying tele-operated device is proposed for the remote control of excavator-like dismantling equipment. As a tele-operated...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

ثبت نام

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

عنوان ژورنال:

دوره   شماره 

صفحات  -

تاریخ انتشار 2005