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

Access to Document

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

Fingerprint Dive into the research topics of 'Human-machine cooperative manipulation with vision-based motion constraints'. Together they form a unique fingerprint.

Cite this

@article{a0d0a6d6306f4c82af363e50422d3840,

title = "Human-machine cooperative manipulation with vision-based motion constraints",

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.",

author = "Hager, {Gregory D.}",

year = "2010",

month = apr,

day = "5",

doi = "10.1007/978-1-84996-089-2_4",

language = "English (US)",

volume = "401",

pages = "55--70",

journal = "Lecture Notes in Control and Information Sciences",

issn = "0170-8643",

publisher = "Springer Verlag",

}

TY - JOUR

T1 - Human-machine cooperative manipulation with vision-based motion constraints

AU - Hager, Gregory D.

PY - 2010/4/5

Y1 - 2010/4/5

N2 - 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.

AB - 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.

UR - http://www.scopus.com/inward/record.url?scp=77950240807&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77950240807&partnerID=8YFLogxK

U2 - 10.1007/978-1-84996-089-2_4

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

M3 - Article

AN - SCOPUS:77950240807

VL - 401

SP - 55

EP - 70

JO - Lecture Notes in Control and Information Sciences

JF - Lecture Notes in Control and Information Sciences

SN - 0170-8643

ER -