Abstract
We consider the problem of cooperative manipulation to improve positioning and path following abilities of humans. Using a specially designed actuated manipulator and "steady hand" manipulation we report on compliant path following strategies and their experimental evaluation. Detecting lines and simple curve by processing images from an endoscope mounted on the robot, we traverse these curves autonomously, under direct user control, and in an augmented mode of user control. Anisotropic gains based on gradient information from the imaging reduce errors in path traversal.
| Original language | English (US) |
|---|---|
| Pages | 92-97 |
| Number of pages | 6 |
| State | Published - 1999 |
| Event | 8th IEEE International Workshop on Robot and Human Communication RO-MAN '99 - Pisa, Italy Duration: Sep 27 1999 → Sep 29 1999 |
Other
| Other | 8th IEEE International Workshop on Robot and Human Communication RO-MAN '99 |
|---|---|
| Country/Territory | Italy |
| City | Pisa |
| Period | 9/27/99 → 9/29/99 |
ASJC Scopus subject areas
- Software
- Hardware and Architecture