8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483)最新文献

Attractive interface for human robot interaction 吸引人的人机交互界面

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-12-01 DOI: 10.1109/ROMAN.1999.900327

M. Imai, T. Ono, T. Etani

引用次数: 6

Virtual impedance based remote tele-collaboration with time delay 基于虚拟阻抗的时滞远程协作

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-12-01 DOI: 10.1109/ROMAN.1999.900351

N. Chong, T. Kotoku, K. Ohba, K. Komoriya, N. Matsuhira, K. Taniel

{"title":"Virtual impedance based remote tele-collaboration with time delay","authors":"N. Chong, T. Kotoku, K. Ohba, K. Komoriya, N. Matsuhira, K. Taniel","doi":"10.1109/ROMAN.1999.900351","DOIUrl":"https://doi.org/10.1109/ROMAN.1999.900351","url":null,"abstract":"A collision-free coordinated control scheme is discussed for multi-operator-multi-robot (MOMR) teleoperation through a network with communication time delay. Collaboration tasks have rapidly emerged in many possible applications such as the plant maintenance, construction, and surgery, because multi-robot collaboration would have a significant advantage over a single robot in such cases. However, the effect of time-delay would pose a more difficult problem to MOMR teleoperation systems and seriously affect their performance. In this work, the virtual impedance based coordinated control method is proposed to cope with collision arising from the communication delay in the MOMR teleoperation system. We impose a variable impedance on the master hand and change the impedance according to the distance between two slave arms in the local predictor simulator. When a possible collision is expected during the task, a high impedance is set to master hand and signals the operator to stop or to change her master command. This adjustable impedance of the master hand safely guides an operator through unexpected collisions in time-delayed MOMR teleoperation. To verify the validity of the proposed scheme, an experimental setup is built and a block arrangement task is performed by two slave arms based on simulation models.","PeriodicalId":200240,"journal":{"name":"8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483)","volume":"23 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-12-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"128224828","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 4

Robot-mediated communications: robots promoting matchmaking between humans 机器人介导的交流:机器人促进人与人之间的配对

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-12-01 DOI: 10.1109/ROMAN.1999.900346

T. Ono, M. Imai, T. Etani

引用次数: 1

Effect of map indication on remote control of a mobile robot 地图指示对移动机器人远程控制的影响

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-12-01 DOI: 10.1109/ROMAN.1999.900322

S. Maeyama, S. Yuta, H. Igarashi, A. Harada

引用次数: 2

Gesture recognition for human-friendly interface in designer-consumer cooperate design system 人机协作设计系统中人机界面的手势识别

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-12-01 DOI: 10.1109/ROMAN.1999.900373

H. Sawada, S. Hata, S. Hashimoto

引用次数: 11

User testing and design iteration of the ProVAR user interface 对ProVAR用户界面进行用户测试和设计迭代

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI: 10.1109/ROMAN.1999.900304

J. Wagner, M. Wickizer, H. V. D. Loos, L. Leifer

引用次数: 11

An architecture for adaptive functional electrical stimulation for hemiplegic lower limb activities 一种用于偏瘫下肢活动的适应性功能性电刺激结构

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI: 10.1109/ROMAN.1999.900348

Wenwei Yu, M. Marusihi, H. Yokoi, Y. Mano, Y. Kakazu

引用次数: 3

A comparative study between real force made in experiment and virtual force made in octree-based algorithm 实验所得实力与八叉树算法所得虚力的比较研究

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI: 10.1109/ROMAN.1999.900364

H. Noborio, S. Saeki, T. Ikuta

{"title":"A comparative study between real force made in experiment and virtual force made in octree-based algorithm","authors":"H. Noborio, S. Saeki, T. Ikuta","doi":"10.1109/ROMAN.1999.900364","DOIUrl":"https://doi.org/10.1109/ROMAN.1999.900364","url":null,"abstract":"In this paper, we improve the precision of an efficient algorithm for generating a virtual impulse force between static and dynamic objects in a 3D graphics environment. The authors proposed an efficient algorithm to generate a virtual impulse force based on the octree representation. In the octree representation, all patches of objects are synchronously sorted by X, Y, and Z axes, and therefore their interference can be picked up by the synchronous binary search on the three axes. In fact, collisions between two objects with hundred or more patches can be retrieved less than a few milli-second at a popular personal computer. Because of the performance, the algorithm can be used in a sensor feedback control. The leftover problem of our algorithm is to increase a reality of a generated force. In this research, we assume both objects are defined as iron. In this case, to find an initial contact between vertex and patch of different objects or edge and edge of them is great importance. For this purpose, we develop an efficient algorithm to find the initial contact. Then, we build models of contact and friction and calibrate them by comparing a real force made in an experiment with a virtual force generated by our algorithm. By the experimental comparison, we increase the precision of an impulse force composed of contact and friction forces in our algorithm.","PeriodicalId":200240,"journal":{"name":"8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483)","volume":"31 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1999-09-27","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127742266","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 9

Technical considerations on the visualisation of virtual environments 关于虚拟环境可视化的技术考虑

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI: 10.1109/ROMAN.1999.900315

F. Tecchia, C. Avizzano, A. Brogni, C. Evangelista, G. Di Pietro, M. Bergamasco

引用次数: 0

Design of a new tendon driven haptic interface with six degrees of freedom 新型六自由度肌腱驱动触觉界面的设计

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483) Pub Date : 1999-09-27 DOI: 10.1109/ROMAN.1999.900357

A. Frisoli, F. Salsedo, M. Bergamasco

引用次数: 13