Human-machine cooperative manipulation with vision-based motion constraints

Gregory D. Hager

doi:10.1007/978-1-84996-089-2_4

Human-machine cooperative manipulation with vision-based motion constraints

Gregory D. Hager

Whiting School of Engineering

Research output: Contribution to journal › Article › peer-review

Abstract

This chapter discusses a class of control algorithms that provide enhanced physical dexterity by imposing passive motion constraints. Such motion constraints are often referred to as virtual fixtures. It is shown that algorithms originally designed for vision-based control of manipulators can be easily converted into control algorithms that provide virtual fixtures. As a result it is possible to create advanced human-machine cooperative manipulation systems that take complete advantage of information provided by vision, yet permit the user to retain control of essential aspects of a given task.

Original language	English (US)
Pages (from-to)	55-70
Number of pages	16
Journal	Lecture Notes in Control and Information Sciences
Volume	401
DOIs	https://doi.org/10.1007/978-1-84996-089-2_4
State	Published - Apr 5 2010

ASJC Scopus subject areas

Library and Information Sciences

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10.1007/978-1-84996-089-2_4

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Human-machine cooperative manipulation with vision-based motion constraints

Abstract

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