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Predictive display for telerobot under unstructured environment
Wei Q(魏青); Liu NL(刘乃龙); Cui L(崔龙)
作者部门机器人学研究室
会议名称14th International Conference on Intelligent Autonomous Systems, IAS 2016
会议日期July 3-7, 2016
会议地点Shanghai, China
会议录名称Advances in Intelligent Systems and Computing
出版者Springer Verlag
出版地Berlin
2016
页码1027-1036
收录类别EI ; CPCI(ISTP)
EI收录号20170803368761
WOS记录号WOS:000406996500075
产权排序1
ISSN号2194-5357
ISBN号978-3-319-48035-0
关键词Telerobot Vr Unstructured Environment Scene Reconstruction Force Feedback
摘要In 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.
语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20077
专题机器人学研究室
通讯作者Liu NL(刘乃龙)
作者单位1.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
推荐引用方式
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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