Occlusion-Free Visual Servoing for the Shared Autonomy Teleoperation of Dual-Arm Robots

Visual servoing in telerobotics provides information to the operator about the remote location and assists in the task execution to reduce stress on the user. Occlusions in this scenario can, on the one hand, lead to the visual servoing failure, and, on the other hand, degrade the user experience an...

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Veröffentlicht in:	IEEE robotics and automation letters 2018-04, Vol.3 (2), p.796-803
Hauptverfasser:	Nicolis, Davide, Palumbo, Marco, Zanchettin, Andrea Maria, Rocco, Paolo
Format:	Artikel
Sprache:	eng
Schlagworte:	Autonomy Cameras Collision avoidance Convexity Field of view Manipulators Occlusion occlusion avoidance Optimization optimization and optimal control Robot arms Robot kinematics Robots State machines Teleoperators Telerobotics telerobotics and teleoperation Visual control Visual servoing
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