Abstract
For most present-day industrial robots, the user programs the robot using a robot language or teaches the robot using a pendant and/or joystick. In telerobots, the user controls the mobile robot or the robot arm by manually operating a joystick where the user himself acts as a cognition and decision making unit in the control loop. One of the important sensed information given to the user is visual feedback. Inspired by behavioral control of mobile robots, we propose a novel interface between the user and the robot to improve the performance of the robot system. In the proposed paradigm, the visual feedback exists in two control loops: one for the human supervisory control and the other for the robot itself for visual servoing. The human operator only provides the visual primitives to the robot and tells the robot its current situation which will activate a certain action, as in situation-to-action reactive/reflex control of mobile robots.
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References
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© 1997 Springer-Verlag Berlin Heidelberg
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Tong, W.B., Tso, S.K., Lang, S., Luz, G.Z., Ma, S.D. (1997). Directing robots with visual primitives for navigation and micro-manipulation. In: Chin, R., Pong, TC. (eds) Computer Vision — ACCV'98. ACCV 1998. Lecture Notes in Computer Science, vol 1351. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-63930-6_114
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DOI: https://doi.org/10.1007/3-540-63930-6_114
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