Vision assisted control for manipulation using virtual fixtures

A. Bettini, S. Lang, A. Okamura, G. Hager

Research output: Contribution to conferencePaper

Abstract

The "steady hand" concept is a way of providing assistance for direct manipulation by applying constraints on the motion of a tool shared by a user and a robot. In this paper, we explore in detail one family of constraints: virtual fixtures for use in path following tasks. Vision is used to sense the desired path, and then the robot encourages motion toward and along the path through a direction-based control law. This "soft" virtual fixture allows lows the user to move in other, non-preferred directions, maintaining the user's sense of autonomy and control. Experimental results show that user performance in assisted path following improves with virtual fixture augmentation, and differs with varying fixture compliance.

Original languageEnglish (US)
Pages1171-1176
Number of pages6
StatePublished - Dec 1 2001
Event2001 IEEE/RSJ International Conference on Intelligent Robots and Systems - Maui, HI, United States
Duration: Oct 29 2001Nov 3 2001

Other

Other2001 IEEE/RSJ International Conference on Intelligent Robots and Systems
CountryUnited States
CityMaui, HI
Period10/29/0111/3/01

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Bettini, A., Lang, S., Okamura, A., & Hager, G. (2001). Vision assisted control for manipulation using virtual fixtures. 1171-1176. Paper presented at 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems, Maui, HI, United States.