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A supervisory telerobotic control system using model-based vision feedback

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

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