| Autor: |
Adam Leeper, Sonny Chan, Kaijen Hsiao, Kenneth Salisbury, Matei Ciocarlie |
| Rok vydání: |
2012 |
| Předmět: |
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| Zdroj: |
HAPTICS |
| DOI: |
10.1109/haptic.2012.6183818 |
| Popis: |
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. |
| Databáze: |
OpenAIRE |
| Externí odkaz: |
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