| Autor: |
Leeper, Adam, Chan, Sonny, Hsiao, Kaijen, Ciocarlie, Matei, Salisbury, Kenneth |
| Zdroj: |
2012 IEEE Haptics Symposium (HAPTICS); 1/ 1/2012, p377-383, 7p |
| Abstrakt: |
We present an efficient 6-DOF haptic algorithm for rendering interaction forces between a rigid proxy object and a set of unordered point data. We further explore the use of haptic feedback for remotely supervised robots performing grasping tasks. The robot captures the geometry of a remote environment (as a cloud of 3D points) at run-time using a depth camera or laser scanner. An operator then uses a haptic device to position a virtual model of the robot gripper (the haptic proxy), specifying a desired grasp pose to be executed by the robot. The haptic algorithm enforces a proxy pose that is non-colliding with the observable environment, and provides both force and torque feedback to the operator. Once the operator confirms the desired gripper pose, the robot computes a collisionfree arm trajectory and executes the specified grasp. We apply this method for grasping a wide range of objects, previously unseen by the robot, from highly cluttered scenes typical of human environments. Our user experiment (N=20) shows that people with no prior experience using the visualization system on which our interfaces are based are able to successfully grasp more objects with a haptic device providing force-feedback than with just a mouse. [ABSTRACT FROM PUBLISHER] |
| Databáze: |
Complementary Index |
| Externí odkaz: |
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