By Topic

A supervisory telerobotic control system using model-based vision feedback

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Tendick, F. ; California Univ., Berkeley, CA, USA ; Voichick, J. ; Tharp, G. ; Stark, L.

A hierarchical telerobotic control system for experiments with model-based vision feedback is described. The human operator issues commands to a high-level controller which plans actions to be carried out by the low-level controller. A feedforward model of the robot's motion is used by the vision system to look for visual enhancements on the robot in their anticipated positions. A middle-level module is planned which will alter low-level control gains to maintain performance within error bounds. Results of experiments with the vision system and studies of control strategies for vision feedback are discussed

Published in:

Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on

Date of Conference:

9-11 Apr 1991