Mixed Reality Applied to the Teleoperation of a 7-DOF Manipulator in Rescue Missions

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dc.contributor.authorLovon Ramos, Percy
dc.contributor.authorRipas Mamani, Roger
dc.contributor.authorRosas Cuevas, Yessica
dc.contributor.authorTejada Begazo, María Fernanda
dc.contributor.authorMarroquin Mogrovejo, Renato
dc.contributor.authorBarrios Aranibar, Dennis
dc.date.accessioned2019-01-29T22:19:52Z
dc.date.available2019-01-29T22:19:52Z
dc.date.issued2016
dc.description.abstractThe need for complementing robot's autonomy behaviour with human reasoning has made robot teleoperation a research topic for more than fifty years. And while most of the research work usually deploys a master-slave architecture for controlling robots (whether using a joystick and/or desktop computer), recently Mixed Reality has come into play. This is because it is able to improve the teleoperator's view with less bandwidth consumption than traditional teleoperation architectures. In this paper a new approach for teleoperating a manipulator is presented. The virtual representation of the manipulator is made by using encoder sensors, and also, a camera image is displayed through an Android interface to complement the teleoperator's view. We can show with our results that the real positions of the manipulator and the virtual model are closed to be the same with some differences due to the transmission time delay which is minimum. © 2016 IEEE.es_PE
dc.description.uriTrabajo de investigaciónes_PE
dc.identifier.doihttps://doi.org/10.1109/LARS-SBR.2016.57es_PE
dc.identifier.isbnurn:isbn:9781509036561es_PE
dc.identifier.urihttps://hdl.handle.net/20.500.12590/15826
dc.language.isoenges_PE
dc.publisherInstitute of Electrical and Electronics Engineers Inc.es_PE
dc.relation.urihttps://www.scopus.com/inward/record.uri?eid=2-s2.0-85010399700&doi=10.1109%2fLARS-SBR.2016.57&partnerID=40&md5=2e5690c0dfe3a42fc77c0f03272b9a54es_PE
dc.rightsinfo:eu-repo/semantics/restrictedAccesses_PE
dc.sourceRepositorio Institucional - UCSPes_PE
dc.sourceUniversidad Católica San Pabloes_PE
dc.sourceScopuses_PE
dc.subjectBehavioral researches_PE
dc.subjectManipulatorses_PE
dc.subjectRemote controles_PE
dc.subjectRoboticses_PE
dc.subjectRobotses_PE
dc.subjectTime delayes_PE
dc.subjectVirtual realityes_PE
dc.subjectBandwidth consumptiones_PE
dc.subjectMaster-slave architecturees_PE
dc.subjectMixed realityes_PE
dc.subjectResearch topicses_PE
dc.subjectRobot teleoperationes_PE
dc.subjectTransmission time delayes_PE
dc.subjectVirtual modelinges_PE
dc.subjectVirtual representationses_PE
dc.subjectHuman robot interactiones_PE
dc.subject.ocdehttps://purl.org/pe-repo/ocde/ford#1.02.00es_PE
dc.titleMixed Reality Applied to the Teleoperation of a 7-DOF Manipulator in Rescue Missionses_PE
dc.typeinfo:eu-repo/semantics/conferenceObject
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