ERROR DETECTION BY ANTICIPATION FOR VISION-BASED CONTROL
Mots-clés :
Anticipatory systems, error detection, vision-based control, adaptive supervisory control, tele-roboticsRésumé
A vision-based control system has been developed. It enables a human operator to remotely direct a robot, equipped with a camera, towards targets in 3D space by simply pointing on their images with a pointing device. This paper presents an anticipatory system, which has been designed for improving the safety and the effectiveness of the vision-based commands. It simulates these commands in a virtual environment. It attempts to detect hard contacts that may occur between the robot and its environment, which can be caused by machine errors or operator errors as well.Téléchargements
Références
- Sheridan T.B., "Tele-robotics, Automation, and human supervisory control", MIT Press (1992).
- Backes P.G., Beahan J. and Bon B., "Interactive command building and sequencing for supervised autonomy", Proc. IEEE Int. Conf. on Robotics and Automation, Atlanta, (1993,) pp.795-801.
- Backes P.G. and Tsao K.S., "UMI: an interactive supervisory and shared control system for telerobotics", in: Proc. of IEEE Int. Conf. on Robotics and Automation, Cincinnati, Ohio, (1990), pp. 1096-1101.
- Hirzinger J., Heindl K., Landzettel and Brunner B., "Multisensory shared autonomy- a key issue in the space robot technology experiment ROTEX", Proc. of IEEE/RSJ, Int. Conf. on Intelligent Robots and Systems, Raleigh, NC, (1990), pp. 221-230.
- Zaatri A. and Van Brussel H., "An integrated multi-modal control architecture for Tele-autonomous Systems", Proc. IAS-5, Sapporo, Japan, (1998), pp. 775-783.
- Van de Poel P., Witvrouw W., Bruyninckx H. and de Schutter J., "An environment for developing and optimising compliant robot motion tasks", in: International Conference on Advanced Robotics, Tokyo, (1993), pp.738-741
- Zaatri A. and Van Brussel H., "Investigations in tele-robotics using co-operative supervisory modes of control", in: Proc. of the SPIE Conf, Pittsburg, PA, (1997), pp-41-52.
- Viljoen J. et al, "Force controlled robot programming using natural language", Master’s thesis, dept of computer science, Katholieke Universiteit Leuven, Belgium (1997).
- Graves S., "An environment for compliant motion programming by human demonstration", Proc. of IEEE/RSJ, Int. Conf. on Intelligent Robots and Systems, (1996), pp. 795-801.
- Wang Q. and de Schutter J., "Force controlled robot: Programming by Human Demonstration", Internal technical report 95R64, KULeuven, PMA (1995).
- Rosen R., "Anticipatory Systems: Philosophical, Mathematical, and Methodological Foundations", Pergamon Press (1985).
- Prahbu P.V. and Prahbu G.V., "Human Error and User-Interface Design", in: M. Helander, T. K. Landauer, P. Prahbu, eds. Handbook of Human-Computer Interaction, Elsevier Science B.V., (1997), pp. 485-501.
- Rasmussen J., "Information Processing and Human-Machine Interaction; An approach to cognitive engineering", North-holland, Elsevier Science Publishing Co (1986).
