comms_teleop_dw_ab
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comms_teleop_dw_ab [2017/05/09 22:13] – [Annotated References] dwallace | comms_teleop_dw_ab [2017/06/19 05:11] (current) – dwallace | ||
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====== Telerobotics Annotated Bibliography ====== | ====== Telerobotics Annotated Bibliography ====== | ||
- | **Author:** Dylan Wallace | + | **Author:** Dylan Wallace |
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- | **Date:** Last modified on 05/07/17 | + | **Date:** Last modified on 05/09/17 |
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- | **Keywords: | + | **Keywords: |
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===== Annotated References ===== | ===== Annotated References ===== | ||
- | 1. [[http:// | + | **1.** [[http:// |
Publisher: 2002 IEEE International Conference on Robotics and Automation (ICRA) | Publisher: 2002 IEEE International Conference on Robotics and Automation (ICRA) | ||
Keywords: Humanoids, telerobotics, | Keywords: Humanoids, telerobotics, | ||
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Three things I learned from this paper were: (1) how important visual and physical feedback are for tele-operation; | Three things I learned from this paper were: (1) how important visual and physical feedback are for tele-operation; | ||
- | 2. [[http:// | + | **2.** [[http:// |
Publisher: Humanoids 2016\\ | Publisher: Humanoids 2016\\ | ||
- | Keywords: Fitt's Law, Teleoperation, | + | Keywords: Fitt's Law, Teleoperation, |
- | Proper Citation | + | Petric, T., Goljat, R., & Babic, J. (2016). Cooperative human-robot control based on Fitts' law. In 2016 IEEE-RAS 16th International Conference on Humanoid Robots. Cancun, Mexico: IEEE-RAS. doi: |
+ | |||
+ | This paper describes a human operator working together with a haptic robot to control an object on a screen. | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: (1) Fitt's Law for HCI; | ||
+ | (2) Parameter tuning for each individual model; and (3) the control algorithm used to move the robot, using Dynamic Movement Primitives. | ||
+ | |||
+ | The principles are explained well. For example the equations given show the correct and thorough application of Fitt's Law and Dynamic Movement Primitives application of the principles. | ||
+ | |||
+ | From the principles and results, the paper concludes: (1) the control algorithm learns very quickly, even adapting within the first trial; (2) the models of the human and the robot converge after a few trials; (3) the models of all subject converge within standard deviation; and (4) all models adhere to Fitt's Law, demonstrating validity. | ||
+ | |||
+ | I liked this paper because: (1) it demonstrated the use of Fitt's Law in order to control a robot; (2) it utilized haptics in order for a robot and a human to cooperate on a manipulation task; and (3) extensive data was provided for all subjects, and the data demonstrated a positive adherence to the principles provided. I would have liked to see better explanation of the setup that physically linked the human operator and the haptic robot. | ||
+ | |||
+ | Three things I learned from this paper were: (1) how to utilize Fitt's Law for control and learning of cooperative manipulation; | ||
+ | and (3) how to utilize haptics in order to increase cooperative control of a system. | ||
+ | |||
+ | **3.** [[http:// | ||
+ | Publisher: IEEE Conference on Robotics and Automation (ICRA) (1998)\\ | ||
+ | Keywords: Teleoperation, | ||
+ | |||
+ | Brady, K., & Tarn, T. (1998). Internet-based remote teleoperation. Belgium: IEEE. doi: | ||
+ | |||
+ | This paper describes utilizing the Internet to teleoperate robots over long-distance connections, | ||
+ | that the model of the robot is sufficient to deal with the delay in high-latency teleoperation. | ||
+ | |||
+ | From the state-of-the-art, | ||
+ | |||
+ | The paper presents the following theoretical principles: (1) State space formulation of the delay; and (2) Time delay estimation. | ||
+ | |||
+ | The principles are explained well, and in detail. For example the equations for the state space formulation show the correct application of the principles. | ||
+ | |||
+ | From the principles and results, the paper concludes: (1) The predictive model is useful for unexpected circumstances during control; (2) the state space formulation works well under high-latency; | ||
+ | |||
+ | I liked this paper because: (1) It utilized the Internet, a readily available resource, to control the robot; (2) It dealt with high-latency communications by switching from time delay to a state space model; and (3) It utilized a predictive model that accurately guided the operator throughout the heavily delayed control. However, I would have liked to see picture of their predictive model, and how it compared to the delayed image displayed on screen. | ||
+ | |||
+ | Three things I learned from this paper were: (1) How to estimate the time delay in a system; (2) How to utilize a state space model for high-latency control; and (3) How to keep effectively the human-in-the-loop, | ||
+ | |||
+ | **4.** [[http:// | ||
+ | Publisher: IEEE Transactions on Robotics and Automation (Volume 9, Issue 5, Oct 1993)\\ | ||
+ | Keywords: Time delay, high-latency, | ||
+ | |||
+ | Sheridan, T. (1993). Space teleoperation through time delay: review and prognosis. IEEE Transactions on Robotics and Automation, 9(5), 592-606. doi: | ||
This paper describes (fill in the blank). | This paper describes (fill in the blank). | ||
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and (3) (fill-in-the-blank). | and (3) (fill-in-the-blank). | ||
- | 3. [[insert_ieee_explore_link_here|Title of Paper]]\\ | + | **5.** [[http:// |
- | Publisher: | + | Publisher: |
- | Keywords | + | Keywords: |
- | Proper Citation | + | Leung, G., Francis, B., & Apkarian, J. (1995). Bilateral controller for teleoperators with time delay via μ-synthesis. IEEE Transactions on Robotics and Automation, 11(1), 105-116. doi: |
This paper describes (fill in the blank). | This paper describes (fill in the blank). |
comms_teleop_dw_ab.1494393192.txt.gz · Last modified: by dwallace