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Qiao, Bing (Nanjing University of Aeronautics and Astronautics), Liu, Zhenya (Nanjing University of Aeronautics and Astronautics), Lin, Qiao (Nanjing University of Aeronautics and Astronautics), Li, Rendong (Nanjing University of Aeronautics and Astronautics), CHEN, Meng (Institute of Aerospace System Engineering Shanghai)

Telerobotic Manipulation with Haptic Interaction Based on Real-Time Point Cloud Modeling

Scheduled for presentation during the Poster session "Late Breaking Posters" (ThAP), Thursday, October 1, 2015, 08:30−08:45, Saal G1

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, Sept 28 - Oct 03, 2015, Congress Center Hamburg, Hamburg, Germany

This information is tentative and subject to change. Compiled on July 20, 2019

Keywords Haptics and Haptic Interfaces, Telerobotics

Abstract

Telerobotic manipulation is one of the most important technologies to stretch the mental and physical capabilities of human beings. With a teleoperated manipulation system capable of rendering force feedback information through the haptic device an operator can remotely touch, feel and manipulate the objects in an immersive manner. This research proposes a point cloud interaction scheme for telerobotic operation which combines the RGB and depth information of the working environment of the manipulator to enable an operator to monitor the surroundings of the robot and the object to be remotely manipulated in real time. Meanwhile the force feedback is rendered through a haptic device according to the data obtained from RGB-D cameras. The main idea of the algorithm is to model the environment using the data obtained from a RGB-D camera which simultaneously and real timely captures the RGB and the depth pictures of the environment. The data of the depth image is smoothed through a median filter to get rid of some noises and combined with the RGB picture to form a point cloud image of the environment with both RGB and depth information. In order to guarantee the safety of the teleoperation a three layered proxy model is developed to construct the forbidden virtual fixture to prevent the impact of the end-effector of the robotic manipulator on the surface of the environment and the objects. A guiding virtual fixture is designed based on the artificial potential field approach to improve the performance of the operation in velocity and precision. Experiments are conducted to verify the efficacy of the scheme, in which a Kinect of Microsoft is used as the RGB-D camera and a Novint Falcon device is employed for the remote operation of the manipulator and the haptic rendering.

 

 

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