Experiments with a steady hand robot in constrained compliant motion and path following

Rajesh Kumar, Patrick Jensen, Russell H. Taylor

Research output: Contribution to conferencePaper

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 languageEnglish (US)
Pages92-97
Number of pages6
StatePublished - Dec 1 1999
Event8th IEEE International Workshop on Robot and Human Communication RO-MAN '99 - Pisa, Italy
Duration: Sep 27 1999Sep 29 1999

Other

Other8th IEEE International Workshop on Robot and Human Communication RO-MAN '99
CountryItaly
CityPisa
Period9/27/999/29/99

ASJC Scopus subject areas

  • Hardware and Architecture
  • Software

Fingerprint Dive into the research topics of 'Experiments with a steady hand robot in constrained compliant motion and path following'. Together they form a unique fingerprint.

  • Cite this

    Kumar, R., Jensen, P., & Taylor, R. H. (1999). Experiments with a steady hand robot in constrained compliant motion and path following. 92-97. Paper presented at 8th IEEE International Workshop on Robot and Human Communication RO-MAN '99, Pisa, Italy.