Predictive display for telerobot under unstructured environment
文献类型：会议论文
| 作者 | Wei Q(魏青) ; Liu NL(刘乃龙); Cui L(崔龙)
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| 出版日期 | 2016 |
| 会议名称 | 14th International Conference on Intelligent Autonomous Systems, IAS 2016 |
| 会议日期 | July 3-7, 2016 |
| 会议地点 | Shanghai, China |
| 关键词 | Telerobot VR Unstructured environment Scene reconstruction Force feedback |
| 页码 | 1027-1036 |
| 通讯作者 | 刘乃龙 |
| 中文摘要 | In this paper, the issue that traditional virtual reality (VR) system can’t be used in unstructured environment is addressed, and a novel predictive display method based on 3D scene reconstruction online is proposed. In this method, the virtual environment is modeled and reconstructed online by the structured light, so the consistency with the real world can be ensured; An adaptive random sample consensus (ARANSAC) algorithm is proposed to denoise the point cloud when modeling the environment, which adjusts the parameters of the standard RANSAC algorithm adaptively; A rigid contact model based haptic rendering algorithm is adopted to generate the force feedback directly from the manipulator’s dynamics, which eliminates the time delay and security problem introduced by the feedback force and increases the frequency of force feedback; Moreover, a low frequency filter is designed to keep the virtual force smooth. Finally, the effectiveness of the proposed method under unstructured environment is demonstrated by experiments. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议录 | Advances in Intelligent Systems and Computing
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| 会议录出版者 | Springer Verlag |
| 会议录出版地 | Berlin |
| 语种 | 英语 |
| ISSN号 | 2194-5357 |
| ISBN号 | 978-3-319-48035-0 |
| 源URL | [http://ir.sia.cn/handle/173321/20077]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | Wei Q,Liu NL,Cui L. Predictive display for telerobot under unstructured environment[C]. 见:14th International Conference on Intelligent Autonomous Systems, IAS 2016. Shanghai, China. July 3-7, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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