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Telerobotic control using augmented reality

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3 Author(s)
Milgram, Paul ; Dept. of Ind. Eng., Toronto Univ., Ont., Canada ; Rastogi, A. ; Grodski, J.J.

A taxonomy for classifying human mediated control of remote manipulation systems is proposed, based on three dimensions: degree of machine autonomy, level of structure of the remote environment, and extent of knowledge, or modellability, of the remote world. For certain unstructured and thus difficult to model environments, a case is made for remote manipulation by means of director/agent control, rather than telepresence. The ARGOS augmented reality toolkit is presented, as a means for gathering quantitative spatial information about-i.e., for interactively creating a partial model of a remotely viewed 3D worksite. This information is used for off-line local programming of the remote manipulator-i.e. virtual telerobotic control-and when ready the final commands are transmitted for execution to the manipulator control system

Published in:

Robot and Human Communication, 1995. RO-MAN'95 TOKYO, Proceedings., 4th IEEE International Workshop on

Date of Conference:

5-7 Jul 1995