Assisted Telemanipulation - A Stack-Of-Tasks Approach to Remote Manipulator Control

IROS, pp. 1-9, 2018.

Cited by: 3|Bibtex|Views16|Links
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Abstract:

This article presents an approach for assisted teleoperation of a robot arm, formulated within a real-time stack-of-tasks (SoT)whole-body motion control framework. The approach leverages the hierarchical nature of the SoT framework to integrate operator commands with assistive tasks, such as joint limit and obstacle avoidance or automatic...More

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