World model and its uncertainty in supervisory robot control

Jong H. Park; Thomas B. Sheridan

doi:10.1117/12.56765

1 March 1992 World model and its uncertainty in supervisory robot control

Jong H. Park, Thomas B. Sheridan

Proceedings Volume 1612, Cooperative Intelligent Robotics in Space II; (1992) https://doi.org/10.1117/12.56765
Event: Robotics '91, 1991, Boston, MA, United States

Abstract

This paper describes new methods to deal with uncertainty in the position and orientation of objects in the world model in the context of robot teleoperations. The virtual obstacle (object) is defined to represent objects with uncertainty bounds which are constructed by the operator using geometric data base and a 6 d.o.f. input device while viewing video displays. These virtual obstacles are updated as the cameras move. Also, a new method to build the world model by so called `flying-and-matching' is introduced. Experiments have been performed with human subjects to evaluate the proposed schemes.

Citation Download Citation

Jong H. Park and Thomas B. Sheridan "World model and its uncertainty in supervisory robot control", Proc. SPIE 1612, Cooperative Intelligent Robotics in Space II, (1 March 1992); https://doi.org/10.1117/12.56765

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