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dc.contributor.authorKuan, CPen_US
dc.contributor.authorYoung, KYen_US
dc.date.accessioned2014-12-08T15:44:25Z-
dc.date.available2014-12-08T15:44:25Z-
dc.date.issued2001en_US
dc.identifier.issn0921-0296en_US
dc.identifier.urihttp://hdl.handle.net/11536/30011-
dc.identifier.urihttp://dx.doi.org/10.1023/A:1011136822422en_US
dc.description.abstractRobots governed by remote human operators are excellent candidates for work in hazardous or uncertain environments such as nuclear plants or outer space. For successful teleoperation, it is important to let the operator feel physically present at the remote site. When the telerobotic system is used to execute compliance tasks in which simultaneous control of both position and force may be demanded and inevitable contact with environments is encountered, information about the interactions between the robot manipulator and the environment are especially crucial for the operator to make proper decisions. This paper proposes a VR-based telerobotic system for such compliance tasks. The proposed system provides both visual and haptic information. A local intelligence controller, capable of surface tracking and force regulation, is equipped on the robot manipulator to tackle the time-delay problem usually present in teleoperation and to share control load with the operator. The proposed telerobotic system is developed in a virtual environment due to recent gains in the capabilities and popularity of virtual reality to generate realistic telepresence. Experiments based on the surface-tracking and peg-in-hole compliance tasks demonstrate the effectiveness of the proposed system.en_US
dc.language.isoen_USen_US
dc.subjectteleoperationen_US
dc.subjectrobot compliance controlen_US
dc.subjectvirtual realityen_US
dc.titleVR-based teleoperation for robot compliance controlen_US
dc.typeArticleen_US
dc.identifier.doi10.1023/A:1011136822422en_US
dc.identifier.journalJOURNAL OF INTELLIGENT & ROBOTIC SYSTEMSen_US
dc.citation.volume30en_US
dc.citation.issue4en_US
dc.citation.spage377en_US
dc.citation.epage398en_US
dc.contributor.department電控工程研究所zh_TW
dc.contributor.departmentInstitute of Electrical and Control Engineeringen_US
dc.identifier.wosnumberWOS:000169214200004-
dc.citation.woscount13-
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