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Abstract: We describe an implemented model-based telerobotic system designed to investigate assembly and other tasks involving contact and manipulation of known objects. Key features of our system include ease of maintaining a world model at the operator site and a task-centric operator interface. Our system incorporates gray-scale model-based vision to assist in building and maintaining the local model. The local model is used to provide a task-centric operator interface, emphasizing the natural and... (Update)
Context of citations to this paper: More
...a good programming environment to use it e#ectively. Several teleprogramming systems have been demonstrated in the literature [6, 12, 3] from which we have adapted programming ideas for ACME, as well as from the Cornell Mobot Scheme environment [11] Experiments can be...
...specify include placing or moving a particular block in contact with other objects in the work site. The model generator, described in [1], uses a gray scale vision system that can rapidly recognize the location of objects characterized by straight line edge features [2] The...
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BibTeX entry: (Update)
J.E. Lloyd, J.S. Beis, D.K. Pai, and D.G. Lowe, "Model-based telerobotics with vision," in Proceedings ICRA '97, Albuquerque, New Mexico, April 1997, pp. 1297--1304. http://citeseer.ist.psu.edu/lloyd97modelbased.html More
@misc{ lloyd97modelbased,
author = "J. Lloyd and J. Beis and D. Pai and D. Lowe",
title = "Model-based telerobotics with vision",
text = "J.E. Lloyd, J.S. Beis, D.K. Pai, and D.G. Lowe, Model-based telerobotics
with vision, in Proceedings ICRA '97, Albuquerque, New Mexico, April 1997,
pp. 1297--1304.",
year = "1997",
url = "citeseer.ist.psu.edu/lloyd97modelbased.html" }
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111 COLLIDE: An Interactive and Exact Collision Detection System.. - Cohen, Lin et al. - 1995
81 The Inventor Mentor (context) - Wernecke - 1994
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18 An Operator Interface for Teleprogramming Employing Syntheti.. - Sayers, Paul - 1994
10 Learning indexing functions for 3-D model-basedobject recogn.. (context) - Beis, Lowe - 1994
9 Simulation of Dynamics of Interacting Rigid Bodies Including.. (context) - Goyal, Pinson et al. - 1994
9 Telerobotics, Automation, and Human Supervisory Control (context) - Sheridan - 1992
6 the Implementation and Performance of Impedance Control on P.. (context) - Pelletier, Doyon - 1994
5 Experimental Study on Remote Manipulation Using Virtual Real.. (context) - Oyama, Tsunemoto et al. - 1993
5 Cooperative Control of Visual Displays for Telemanipulation (context) - Kim, Stark - 1989
5 Discrete-Event-Based Planning and Control of Telerobotic Par.. - Cho, Kotoku et al. - 1995
4 Fast Contact Force Computation for Nonpentrating Rigid Bodie.. (context) - Baraff - 1994
3 Building models with planar faces using a structurefrom -mot.. (context) - Beis - 1996
3 Handey: A Robot System That Recognizes, Plans and Manipulate.. (context) - Lozano-Perez, Jones et al. - 1987
2 Center for Intelligent Machines (context) - Lloyd, Hayward et al. - 1992
2 Operator Interaction, for Time-Delayed Teleoperation, with a.. (context) - Stein, Paul - 1994
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