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Software architecture for interactive robot teleoperation

Nader Cheaib, Mouna Essabbah, Christophe Domingues, Samir Otmane
2012 Proceedings of the 4th ACM SIGCHI symposium on Engineering interactive computing systems - EICS '12  
In this paper, we present a software architecture for interactive and collaborative underwater robot teleoperation.  ...  This work is in the context of the Digital Ocean Europe project that aims at digitalizing seafloor sites in 3D imagery using underwater robots (ROVs), and uses this information in order to edit interactive  ...  ACKNOWLEDGMENTS This work is done in the context of the Digital Ocean Europe project funded by the European Commission (FP7).  ... 
doi:10.1145/2305484.2305531 dblp:conf/eics/CheaibEDO12 fatcat:rp63xiewkrd33imupy5gpxoyre

Human-Robot-Interfaces based on Mixed Reality for Underwater Robot Teleoperation

Christophe Domingues, Mouna Essabbah, Nader Cheaib, Samir Otmane, Alain Dinis
2012 IFAC Proceedings Volumes  
In this paper, we present two Human-Robot interfaces for underwater robot teleoperation.  ...  This work is in the context of the Digital Ocean Europe project 1 that aims at digitalizing seafloor sites in 3D imagery using underwater robots (ROVs), and uses this information in order to edit interactive  ...  In this paper, we present two types of Human-Robot-Interfaces (HRI) that are developed for underwater robot teleoperation.  ... 
doi:10.3182/20120919-3-it-2046.00036 fatcat:yqtvrqrvwzblndok5thdxvr5kq

Gesture recognition based teleoperation framework of robotic fish

Jinpeng Mi, Yu Sun, Yu Wang, Zhen Deng, Liang Li, Jianwei Zhang, Guanming Xie
2016 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)  
and the onlookers can interact with robotic fish directly rather than need to learn about the system architecture and control strategy.  ...  Most significantly, the teleoperation framework offers the opportunity for onlookers to directly interact with the robotic fish, and the intuitive experience of onlookers about human-robot interaction  ...  This work was supported in part by grants from the National Natural Science Foundation of China (NSFC, No. 51575005, 61503008), the China Postdoctoral Science Foundation (No. 2015M570013).  ... 
doi:10.1109/robio.2016.7866311 dblp:conf/robio/MiSWDLZX16 fatcat:c553vs3i2faf3m2yujjmmjq24q

Special Issue on Interactive Robots and Sensor Systems

Hanafiah Yussof, Masahiro Ohka
2012 International Journal of Social Robotics  
It covers from developmental up to the system architecture and applications, which each of them potentially expand the capabilities of the robot system during interaction with human partner.  ...  Sensors are a critical part of any robot, whether autonomous or teleoperated, or whether for land, space or underwater applications.  ...  This work was supported by work of Yamano et al. proposed flexible and efficient control system of a robot hand for intelligent human-interactive tasks.  ... 
doi:10.1007/s12369-012-0172-9 fatcat:e33pd3vcgngsnlniasccxyjvzq

Underwater Robot Manipulation: Advances, Challenges and Prospective Ventures [article]

Sara Aldhaheri, Giulia De Masi, Èric Pairet, Paola Ardón
2022 arXiv   pre-print
Certainly, the dynamic nature and our limited understanding of the marine environment hinder the autonomous performance of underwater robot manipulation.  ...  Underwater manipulation is one of the most remarkable ongoing research subjects in robotics.  ...  manipulation via human-robot interaction.  ... 
arXiv:2201.02954v1 fatcat:sa7y2pt56nb5ljkyv374temwte

A Natural Interface for Remote Operation of Underwater Robots

Juan C. Garcia, Bruno Patrao, Luis Almeida, Javier Perez, Paulo Menezes, Jorge Dias, Pedro J. Sanz
2017 IEEE Computer Graphics and Applications  
Nowadays, an increasing need of intervention robotic systems can be observed in all kind of hazardous environments.  ...  This paper presents a User Interface Abstraction Layer and introduces a new procedure to control an underwater robot vehicle by using a new intuitive and immersive interface, which will show to the user  ...  ACKNOWLEDGMENTS This research was partly supported by Spanish Ministry of Research and Innovation DPI2011-27977-C03 (TRITON Project).  ... 
doi:10.1109/mcg.2015.118 pmid:26571515 fatcat:hxlbkkg2lbca3paomhgdnh2f2m

TELEOPERATION OF A MANIPULATOR WITH A MASTER ROBOT OF DIFFERENT KINEMATICS: USING BILATERAL CONTROL BY STATE CONVERGENCE

CÉSAR PEÑA, RAFAEL ARACIL, ROQUE SALTAREN, ILKA BANFIELD, JOSÉ M. SABATER
2008 Advances in Mobile Robotics  
This method allows controlling manipulators which are a part of different kinds of robot as: climber robots, underwater robots, human robots, etc.  ...  This paper presenta trie teleoperation metliod of manipulators which ha™ different kinematics with respcot of the master robots using bilateral control by státe con ver gene e.  ...  Introduction In a tclerobotic System thc human operator perecive information frorn the remote environment througli tire human systcm interface which reflecta the interaction torces and acts accordingly  ... 
doi:10.1142/9789812835772_0097 fatcat:qjhwvleqlnfmladmtxlfwisx5e

Supervisory control-based virtual reality for underwater teleoperation systems

Xiaoguang Zhao, Ju Dai, Jinglun Zhao, Desheng Jiang, Anbo Wang
2000 International Conference on Sensors and Control Techniques (ICSC 2000)  
In this paper, we built a system with virtual reality man-machine interface for underwater robot tele-operation.  ...  One of our purposes is to best setup a virtual reality man-machine interactive control for tele-present by proposed method: VSCM (Virtual Supervisor Control Method).  ...  An underwater robot usually consist of a vehicle and manipulators, the vehicle generally called remotely operated vehicle (ROV) which has its own propulsion system and operated by a human pilot on board  ... 
doi:10.1117/12.385522 fatcat:u46b5tuotbdsbjv6oqsb6mkqoy

Virtual and Mixed Reality in Telerobotics: A Survey [chapter]

Costas S.
2006 Industrial Robotics: Programming, Simulation and Applications  
teleoperation system.  ...  a r s , a n d h a v e b e e n u s e d m a i n l y f o r t h e telemanipulation/teleoperation of robotic mechanisms in hostile environments (such as in the nuclear industry, space, underwater, or for other  ...  It is certainly one of the most challenging tasks for the designers of modern teleoperation systems, to find the "optimum line" between robot autonomy and human operator control, in order to exploit in  ... 
doi:10.5772/4911 fatcat:p5qhgw4lwrdsja7r4nj5e67pay

The integration of mobile (tele) robotics and wireless sensor networks: A survey

Andrew Wichmann, Burcu Demirelli Okkalioglu, Turgay Korkmaz
2014 Computer Communications  
In this paper, we start with a review of the history of WSNs, robotics and mobility in WSNs, and teleoperation.  ...  with the environment through autonomous and teleoperated robots.  ...  or a human operator if the situation requires human intelligence and control, and (iv) enabling the human operator to communicate with the remotely controlled robots to interact with the environment.  ... 
doi:10.1016/j.comcom.2014.06.005 fatcat:og37qi3oczaxreaoztmng6q3ee

The field of telerobotics [From the Guest Editors]

Nikhil Chopra, Manuel Ferre, Angelika Peer
2008 IEEE robotics & automation magazine  
Murphy and Burke explore the paradigm of human-robot interaction in their article.  ...  Since its humble beginning in the 1940s when the first teleoperator was designed, the focus had been primarily on the nuclear, space, and underwater applications until the 1980s.  ...  Murphy and Burke explore the paradigm of human-robot interaction in their article.  ... 
doi:10.1109/mra.2008.930402 fatcat:p7obyarfmzd3zkaydikpewjdw4

Invited review: the synergy between virtual reality and robotics

G.C. Burdea
1999 IEEE Transactions on Robotics and Automation  
Subsequently we discuss how VR is being used in supervisory teleoperation, for single operator-single robot systems, single operator multiplexed to several slave robots, and collaborative control of a  ...  This article reviews three areas where integration of the two technologies can be beneficial. First we consider VR-enhanced CAD design, robot programming, and plant layout simulation.  ...  Lin and Kuo [35] at the University of Strathclyde (UK) developed a VRassisted navigation system for underwater tethered robots.  ... 
doi:10.1109/70.768174 fatcat:cu5dxptflvh6xh6h2jm4hpa4te

Cooperative and Multimodal Capabilities Enhancement in the CERNTAURO Human–Robot Interface for Hazardous and Underwater Scenarios

Carlos Veiga Almagro, Giacomo Lunghi, Mario Di Castro, Diego Centelles Beltrán, Raúl Marín Prades, Alessandro Masi, Pedro J. Sanz
2020 Applied Sciences  
The use of remote robotic systems for inspection and maintenance in hazardous environments is a priority for all tasks potentially dangerous for humans.  ...  The system is part of a humanrobot interface that was designed at CERN, the European Center for Nuclear Research, to perform remote interventions in its particle accelerator complex, as part of the CERNTAURO  ...  Conflicts of Interest: The authors declare no conflict of interest. Abbreviations The following abbreviations are used in this manuscript:  ... 
doi:10.3390/app10176144 fatcat:zzq3vvjcsneebfijmiinp47vye

High-Level Teleoperation System for Aerial Exploration of Indoor Environments

Werner Alexander Isop, Christoph Gebhardt, Tobias Nägeli, Friedrich Fraundorfer, Otmar Hilliges, Dieter Schmalstieg
2019 Frontiers in Robotics and AI  
Motivated by the typical structure of indoor environments, the system creates an interactive scene topology in real-time that reduces scene details and supports affordances.  ...  While automation with aerial robots seems a promising solution, fully autonomous systems still struggle with high-level cognitive tasks and intuitive decision making.  ...  Human-Robot Interface Our human-robot interface is designed to support the human operator during teleoperation.  ... 
doi:10.3389/frobt.2019.00095 pmid:33501110 pmcid:PMC7805862 fatcat:w6qfgst4xvftdaxtwmtagg6egi

A review on manipulation skill acquisition through teleoperation‐based learning from demonstration

Weiyong Si, Ning Wang, Chenguang Yang
2021 Cognitive Computation and Systems  
In addition to the learning techniques, the immersive teleoperation enables the human to operate a remote robot with an intuitive interface and achieve the telepresence.  ...  Manipulation skill learning and generalisation have gained increasing attention due to the wide applications of robot manipulators and the spurt of robot learning techniques.  ...  Teleoperation systems enhanced by haptic feedback enable human demonstrators to perceive the remote environment and the robot interacting with the environment.  ... 
doi:10.1049/ccs2.12005 fatcat:wxyourkvrvcqlh6aht6g5fi3sy
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