Image Based Predictive Display for Tele-Manipulation

Presents an image based method for generating predicted immediate operator visual feedback in a robot tele-manipulation system where the real feedback is delayed. No a priori modeling or calibration is needed. The image model is generated from the real images with techniques similar to image compression. The visual-motor calibration is estimated online from the delayed real visual and robot controller feedback. Experiments with a Utah/MIT robot hand and a PUMA robot arm are shown.

Authors

• Martin Jägersand

Keywords

• Displays
• Feedback
• Delay
• Robots
• Humans
• Image coding
• Motion pictures
• Calibration
• Cameras
• Layout
• Visual Feedback
• Robotic Arm
• Robot Control
• Image Compression
• Real Robot
• Robotic Hand
• Real Feedback
• Dimensional Space
• Linear System
• Visual Representation
• Vector-based
• Changes In Appearance
• Human Operator
• Coordinate Frame
• Image Synthesis
• Visual Motion
• Image Appearance
• Camera Pose
• Supervisory Control
• Motion In Space
• Round-trip Delay
• View Synthesis
• Teleoperation System