Abstract
This article presents various experiments conducted at the Stanford Robotics Group to enhance teleoperation thru the use of movement constraints. Several types of constraints have been studied : Safety constraints, limiting the movements of the slave robot into safe areas and robot and guidance constraints, helping the operator to move according to a predefined geometrical path (along a line, on a plane). Those constraints have been implemented using force feedback on the master device and potential fields are used to compute the amplitude of the force feedback according to the constraints.
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© 2001 Springer-Verlag Berlin Heidelberg
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Turro, N., Khatib, O. (2001). Haptically Augmented Teleoperation. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_1
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DOI: https://doi.org/10.1007/3-540-45118-8_1
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Online ISBN: 978-3-540-45118-1
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