Cart (Loading....) | Create Account
Close category search window
 

Integrating visual feedback and force feedback in 3-D collision avoidance for a dual-arm humanoid robot

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)
Charoenseang, S. ; Center for Intelligent Syst., Vanderbilt Univ., Nashville, TN, USA ; Srikaew, A. ; Wilkes, D.M. ; Kawamura, K.

This paper presents a simple but effective method for integrating sensors and actuators in both real and virtual environments using an interactive simulator over the Internet. Our research explores the combination of visual feedback and force feedback to enhance our 3D collision avoidance approach for a dual-arm humanoid robot. The robot control server uses 3D vision-based position estimates of obstacles, such as a human hand or objects on the table, to compute a collision-free path in real-time. The dual-arm robot is capable of performing multiple interactive tasks while avoiding collisions between its own arms or with other objects. The interactive simulator provides visual feedback to the user and sends the user's commands to the robot server and the stereo camera server via the Internet. Thus, it is well-designed for robot teleassistance applications. Force feedback effects are generated, using an inexpensive commercially available joystick, to enhance the sensation of the real environment while interacting with the simulation. Finally, experimental results using our collision avoidance approach are presented to demonstrate the performance of this system

Published in:

Systems, Man, and Cybernetics, 1998. 1998 IEEE International Conference on  (Volume:4 )

Date of Conference:

11-14 Oct 1998

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.