Conference
A Task-space Weighting Matrix Approach to Semi-autonomous Teleoperation Control
Abstract
A semi-autonomous control strategy is proposed for teleoperation of a mobile base and/or a twin-arm robotic manipulator for use when conventional teleoperation is inadequate. The approach employs idempotent and generalized pseudoinverse matrices to augment operator(s) control with some level of assistance/autonomy. An application specific task-space weighting matrix is introduced to adjust the relative weight of autonomous control with respect …
Authors
Malysz P; Sirouspour S
Pagination
pp. 645-652
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Publication Date
September 1, 2011
DOI
10.1109/iros.2011.6094726
Name of conference
2011 IEEE/RSJ International Conference on Intelligent Robots and Systems