Model-based telerobotics with vision

We describe an implemented model-based telerobotic system designed to investigate assembly and other tasks involving contact and manipulation of known objects. Key features of our system include ease of maintaining a world model at the operator site and a task-centric operator interface. Our system incorporates gray-scale model-based vision to assist in building and maintaining the local model. The local model is used to provide a task-centric operator interface, emphasizing the natural and direct manipulation of objects, with the robot's presence indicated in a more abstract fashion. The operator interface is designed to work with widely available and inexpensive desktop computers with low DOF input devices (such as a mouse). We also describe experimental results to date, which include performing assembly-like tasks over the Internet.

Authors

• John E. Lloyd
• Jeffrey S. Beis
• Dinesh K. Pai
• David G. Lowe

Keywords

• Telerobotics
• Gray-scale
• Mice
• Internet
• Machine vision
• Hardware
• Computer science
• Assembly systems
• Buildings
• Robots
• Direct Use
• Operator Sites
• Open Interface
• Model-based System
• Kinematic
• Specific Tasks
• Visual System
• Working Model
• Position Error
• Camera Images
• Control Operations
• Object Position
• Limited Bandwidth
• Image Edge
• Examples Of Interactions
• Contact Conditions
• Remote Sites
• Straight Edges
• Object Rotation
• Three-dimensional Point