Please use this identifier to cite or link to this item:
http://hdl.handle.net/UCSP/15826
Title: | Mixed Reality Applied to the Teleoperation of a 7-DOF Manipulator in Rescue Missions |
Authors: | Lovon Ramos, Percy Ripas Mamani, Roger Rosas Cuevas, Yessica Tejada Begazo, María Fernanda Marroquin Mogrovejo, Renato Barrios Aranibar, Dennis |
Keywords: | Behavioral research;Manipulators;Remote control;Robotics;Robots;Time delay;Virtual reality;Bandwidth consumption;Master-slave architecture;Mixed reality;Research topics;Robot teleoperation;Transmission time delay;Virtual modeling;Virtual representations;Human robot interaction |
Issue Date: | 2016 |
Publisher: | Institute of Electrical and Electronics Engineers Inc. |
metadata.dc.relation.uri: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85010399700&doi=10.1109%2fLARS-SBR.2016.57&partnerID=40&md5=2e5690c0dfe3a42fc77c0f03272b9a54 |
Abstract: | The need for complementing robot's autonomy behaviour with human reasoning has made robot teleoperation a research topic for more than fifty years. And while most of the research work usually deploys a master-slave architecture for controlling robots (whether using a joystick and/or desktop computer), recently Mixed Reality has come into play. This is because it is able to improve the teleoperator's view with less bandwidth consumption than traditional teleoperation architectures. In this paper a new approach for teleoperating a manipulator is presented. The virtual representation of the manipulator is made by using encoder sensors, and also, a camera image is displayed through an Android interface to complement the teleoperator's view. We can show with our results that the real positions of the manipulator and the virtual model are closed to be the same with some differences due to the transmission time delay which is minimum. © 2016 IEEE. |
URI: | http://repositorio.ucsp.edu.pe/handle/UCSP/15826 |
ISBN: | urn:isbn:9781509036561 |
Appears in Collections: | Artículos - Ciencia de la computación |
Files in This Item:
There are no files associated with this item.
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.