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Author Schulteis, Timothy M. ♦ Dupont, Pierre E. ♦ Millman, Paul A. ♦ Howe, Robert D.
Source CiteSeerX
Content type Text
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Coe Cient ♦ Model-based Simulation ♦ Ngered Planar Hand ♦ Critical Procedure ♦ Anidenti Cation System ♦ Simple Blockstacking Task ♦ Telemanipulation Task ♦ Real-time Performance ♦ Many Potential Application ♦ Automatic Identification ♦ Sensory Information ♦ Remote Environment ♦ Research Issue ♦ Time Delay ♦ Temporal Sequence ♦ Case Study ♦ Remote Manipulator Motion ♦ Identi Ed ♦ Training Operator ♦ Force Data ♦ General Description ♦ Task Event ♦ Automatic Property Identi Cation
Description A system that can process sensory information collected during telemanipulation tasks in order to automatically identify properties of the remote environment has many potential applications. These include generating model-based simulations for training operators in critical procedures and improving real-time performance when time delays are large. The research issues involved in developing such anidenti cation system are explored, focusing on properties that can be identi ed from remote manipulator motion and force data. As a case study, a simple blockstacking task performed with a teleoperated two- ngered planar hand is considered. An algorithm is presented which automatically segments the data collected during the task, given only a general description of the temporal sequence of task events. Using the segmented data, the algorithm then successfully estimates the weight, width, height, and coe cient of friction of the two blocks handled during the task. This case study highlights the broader research issues which must be addressed in automatic property identi cation.
in Proceedings of the ASME Dynamic Systems and Control Division
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 1996-01-01