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Predictive display for telerobot under unstructured environment
Wei Q(魏青); Liu NL(刘乃龙); Cui L(崔龙)
Department机器人学研究室
Conference Name14th International Conference on Intelligent Autonomous Systems, IAS 2016
Conference DateJuly 3-7, 2016
Conference PlaceShanghai, China
Source PublicationAdvances in Intelligent Systems and Computing
PublisherSpringer Verlag
Publication PlaceBerlin
2016
Pages1027-1036
Indexed ByEI ; CPCI(ISTP)
EI Accession number20170803368761
WOS IDWOS:000406996500075
Contribution Rank1
ISSN2194-5357
ISBN978-3-319-48035-0
KeywordTelerobot Vr Unstructured Environment Scene Reconstruction Force Feedback
AbstractIn this paper, the issue that traditional virtual reality (VR) system can’t be used in unstructured environment is addressed, and a novel predictive display method based on 3D scene reconstruction online is proposed. In this method, the virtual environment is modeled and reconstructed online by the structured light, so the consistency with the real world can be ensured; An adaptive random sample consensus (ARANSAC) algorithm is proposed to denoise the point cloud when modeling the environment, which adjusts the parameters of the standard RANSAC algorithm adaptively; A rigid contact model based haptic rendering algorithm is adopted to generate the force feedback directly from the manipulator’s dynamics, which eliminates the time delay and security problem introduced by the feedback force and increases the frequency of force feedback; Moreover, a low frequency filter is designed to keep the virtual force smooth. Finally, the effectiveness of the proposed method under unstructured environment is demonstrated by experiments.
Language英语
Citation statistics
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/20077
Collection机器人学研究室
Corresponding AuthorLiu NL(刘乃龙)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China
2.University of Chinese Academy of Sciences, Beijing, 100049, China
Recommended Citation
GB/T 7714
Wei Q,Liu NL,Cui L. Predictive display for telerobot under unstructured environment[C]. Berlin:Springer Verlag,2016:1027-1036.
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