Regular Papers

International Journal of Control, Automation and Systems 2017; 15(6): 2744-2753

Published online October 7, 2017

https://doi.org/10.1007/s12555-016-0432-9

© The International Journal of Control, Automation, and Systems

Egocentric Teleoperation Approach

Ho-Gil Lee, Hyun-Jun Hyung, and Dong-Wook Lee*

Korea Insttitute of Industrial Technology

Abstract

In this paper, an egocentric teleoperation approach to overcome human cognitive and operation limits for multi body motions (robot motions) is proposed. This approach minimizes the degrees of freedom that a human operator has to operate by providing a virtual geometric constraint on the work path;the slave robot autonomously maintains the geometric constraint. The experimental results of an operation of target fitting showed significantly less duration time and work load than the direct teleoperation."

Keywords Augmented display, egocentric teleoperation, egocentric view, local autonomy, operator, shared control, teleoperation, virtual fixture.

Article

Regular Papers

International Journal of Control, Automation and Systems 2017; 15(6): 2744-2753

Published online December 1, 2017 https://doi.org/10.1007/s12555-016-0432-9

Copyright © The International Journal of Control, Automation, and Systems.

Egocentric Teleoperation Approach

Ho-Gil Lee, Hyun-Jun Hyung, and Dong-Wook Lee*

Korea Insttitute of Industrial Technology

Abstract

In this paper, an egocentric teleoperation approach to overcome human cognitive and operation limits for multi body motions (robot motions) is proposed. This approach minimizes the degrees of freedom that a human operator has to operate by providing a virtual geometric constraint on the work path;the slave robot autonomously maintains the geometric constraint. The experimental results of an operation of target fitting showed significantly less duration time and work load than the direct teleoperation."

Keywords: Augmented display, egocentric teleoperation, egocentric view, local autonomy, operator, shared control, teleoperation, virtual fixture.

IJCAS
June 2024

Vol. 22, No. 6, pp. 1761~2054

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