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International Conference on Intelligent Autonomous Systems

IAS 2016: Intelligent Autonomous Systems 14 pp 1027–1036Cite as

Predictive Display for Telerobot Under Unstructured Environment

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Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 531))

Abstract

In this paper, the issue that traditional virtual reality (VR) system can’t be used in unstructured environment is addressed, and a novel predictive display method based on 3D scene reconstruction online is proposed. In this method, the virtual environment is modeled and reconstructed online by the structured light, so the consistency with the real world can be ensured; An adaptive random sample consensus (ARANSAC) algorithm is proposed to denoise the point cloud when modeling the environment, which adjusts the parameters of the standard RANSAC algorithm adaptively; A rigid contact model based haptic rendering algorithm is adopted to generate the force feedback directly from the manipulator’s dynamics, which eliminates the time delay and security problem introduced by the feedback force and increases the frequency of force feedback; Moreover, a low frequency filter is designed to keep the virtual force smooth. Finally, the effectiveness of the proposed method under unstructured environment is demonstrated by experiments.

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Author information

Authors and Affiliations

  1. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, 110016, China

    Qing Wei, NaiLong Liu & Long Cui

  2. University of Chinese Academy of Sciences, Beijing, 100049, China

    Qing Wei & NaiLong Liu

Authors
  1. Qing Wei
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  2. NaiLong Liu
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  3. Long Cui
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Corresponding author

Correspondence to NaiLong Liu .

Editor information

Editors and Affiliations

  1. Shanghai Jiao Tong University , Shanghai, China

    Weidong Chen

  2. Osaka University , Osaka, Japan

    Koh Hosoda

  3. University of Padua , Padua, Italy

    Emanuele Menegatti

  4. Osaka University , Osaka, Japan

    Masahiro Shimizu

  5. Shanghai Jiao Tong University , Shanghai, China

    Hesheng Wang

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Wei, Q., Liu, N., Cui, L. (2017). Predictive Display for Telerobot Under Unstructured Environment. In: Chen, W., Hosoda, K., Menegatti, E., Shimizu, M., Wang, H. (eds) Intelligent Autonomous Systems 14. IAS 2016. Advances in Intelligent Systems and Computing, vol 531. Springer, Cham. https://doi.org/10.1007/978-3-319-48036-7_75

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  • DOI: https://doi.org/10.1007/978-3-319-48036-7_75

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-48035-0

  • Online ISBN: 978-3-319-48036-7

  • eBook Packages: EngineeringEngineering (R0)

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