Sensor fusion in telerobotic task controls

This paper describes a display and control methodology for combining (or fusing) different multidimensional sensor data to guide the performance of telerobotic contact or near-contact tasks successfully in both manual and supervised automatic modes of control. Success is defined as a mapping of control goals or subgoals into a multidimensional data space. Several implemented examples are presented and illustrated. The methodology can also be extended to virtual reality simulation of telerobotic task scenarios through proper physical modeling of sensors.

Authors

• Antal K. Bejczy
• Won Soo Kim

Keywords

• Sensor fusion
• Telerobotics
• Automatic control
• Multidimensional systems
• Displays
• Force sensors
• Tactile sensors
• Motion control
• Robotics and automation
• Torque
• Virtually
• Sensor Data
• Automatic Mode
• Teleoperator
• Active Control
• Operation Mode
• Simulation Environment
• Corrective Actions
• Computer Graphics
• Mode Switching
• Beam Length
• Typical Geometry
• Sensor Information
• Angle Of Approach
• Robotic Hand
• Graphical Techniques
• Turn Signal
• Jet Propulsion Laboratory
• Display Mode
• Ray Casting
• Display Format
• Virtual Force