灵巧机器人智能可视化操作界面.pptVIP

灵巧机器人智能可视化操作界面 An Intelligent Vision-only Operator Interface for Dexterous Robots The goal（本方案的目标） Develop methods and algorithms enabling the natural and unencumbered generation of commands for anthropomorphic robots while minimizing specific operator training and dedicated equipment. 1、开发仿人机器人算法：在操作者接受尽量少的特别训练和专门仪器的情况下，使仿人机器人命令的生成正常而顺畅。 The project aims at allowing the use of sophisticated, human-like robots in critical environments, such as the International Space Station and the proposed Human Settlement on Mars, where time, space and mass constraints prevent the use of more traditional telepresence systems, such as joysticks and force feedback devices. 2、致力于使复杂精密的仿人机器人在如：国际空间站或已提出的人类登陆火星恶劣环境下可以工作，时间、地点等大量约束都迫使我们不能再使用如操纵杆和力反馈装置等传统的遥控系统。 This work is motivated by the parallel development, at NASA Johnson Space Center, of the anthropomorphic robotic system Robonaut, pursuing the design of a robot the size of a suited astronaut. This robot will be teleoperated by a non-intrusive telepresence interface, taking advantage of the natural physical correspondence between the robot and the human operator. 这项工作由NASA JOHNSON空间中心设计的跟宇航员大小相同的仿人机器人系统ROBONAUT的发展来推动。这个机器人将由无干扰远程监控界面进行遥操作，利用机器人和操作人员之间的物理通信。 teleoperator interfaces遥操作界面 1、The input system used here is a visual tracker of the operator arm motions. 输入系统：对操作者手臂运动的视觉跟踪器（visual tracker） 2、Graphical displays have been a constant feature of teleoperation output systems. 输出系统：图像显示（Graphical displays）是遥操作输出系统中常见的形式。 3、Interface intelligence is usually embedded in the manipulator control algorithm with specific robustness and stability features. 智能系统：界面的智能性（Interface intelligence）通常包含在控制器中关于稳定性的控制算法内  visual track视觉跟踪 In the past, visual tracking has been addressed with two main approaches 过去视觉跟踪主要采用两种方式： marker-based systems 采用MARKER的系统 marker-less systems 不采用MARKER的系统 Marker-based systems use reflective markers on the body of the subject, infrared lighting and multi-ple