Perceptual basis for reactive teleoperation

Young Soo Park; Thomas F. Ewing; James M. Boyle; Thomas J. Yule

doi:10.1117/12.444080

4 October 2001 Perceptual basis for reactive teleoperation

Young Soo Park, Thomas F. Ewing, James M. Boyle, Thomas J. Yule

Proceedings Volume 4564, Optomechatronic Systems II; (2001) https://doi.org/10.1117/12.444080
Event: Intelligent Systems and Advanced Manufacturing, 2001, Boston, MA, United States

Abstract

To improve task performance in partially structured environments, enhancements to teleoperation have been proposed by introducing autonomous behaviors. Such autonomy is implemented based on a reactive robotic architecture, where reactive motor agents that directly couple sensory inputs and motor actions become the building blocks. To this end, a perceptual basis for the motor agents is presented in this paper. The perceptual basis consists of perceptual agents that extract environmental information from a structured light vision system and provide action-oriented perception for the corresponding motor agents. Rather than performing general scene reconstruction, a perceptual agent directly provides the motion reference for the motor behavior. Various sensory mechanisms - sensor fission, fusion, and fashion - become basic building blocks of the perception process. Since perception is a process deeply intertwined with the motor actions, active perception may also incorporate motor behaviors as an integral perceptual process.

Citation Download Citation

Young Soo Park, Thomas F. Ewing, James M. Boyle, and Thomas J. Yule "Perceptual basis for reactive teleoperation", Proc. SPIE 4564, Optomechatronic Systems II, (4 October 2001); https://doi.org/10.1117/12.444080

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available