Image based predictive display for tele-manipulation

摘要

Presents an image based method for generating predicted immediate operator visual feedback in a robot tele-manipulation system where the real feedback is delayed. No a priori modeling or calibration is needed. The image model is generated from the real images with techniques similar to image compression. The visual-motor calibration is estimated online from the delayed real visual and robot controller feedback. Experiments with a Utah/MIT robot hand and a PUMA robot arm are shown.