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Teleoperating a mobile manipulation using a UAV camera without robot self-occlusions
dc.contributor.author | Claret, Josep Arnau | |
dc.contributor.author | Basañez, Luis | |
dc.date.accessioned | 2019-08-13T08:42:16Z | |
dc.date.issued | 2019 | |
dc.identifier.citation | Arnau, J.A., Basañez, L. (2019). Teleoperating a mobile manipulation using a UAV camera without robot self-occlusions. En XL Jornadas de Automática: libro de actas, Ferrol, 4-6 de septiembre de 2019 (pp. 694-701). DOI capítulo: https://doi.org/10.17979/spudc.9788497497169.694. DOI libro: https://doi.org/10.17979/spudc.9788497497169 | es_ES |
dc.identifier.isbn | 978-84-9749-716-9 | |
dc.identifier.uri | http://hdl.handle.net/2183/23741 | |
dc.description.abstract | [Abstract] The paper presents a novel teleoperation system that allows the simultaneous command of a mo- bile manipulator and a free ying camera, im- plemented using a UAV, from which the opera- tor can monitor the task execution in real-time. A novel use of the kinematic redundancy is pre- sented to prevent the robot parts from occluding the end-e ector to the operator view. Following an obstacle avoidance approach, an input is fed to the null space that keeps the robot links away from the end-e ector in the image plane as a sec- ondary task. Simulations and the implementation in a real setup show the goodness of the proposed approach. | es_ES |
dc.description.sponsorship | Ministerio de Economía, Industria y Competitividad; DPI2016-80077-R | es_ES |
dc.language.iso | eng | es_ES |
dc.publisher | Universidade da Coruña, Servizo de Publicacións | es_ES |
dc.relation.uri | https://doi.org/10.17979/spudc.9788497497169.694 | es_ES |
dc.rights | Atribución-NoComercial-CompartirIgual 4.0 | es_ES |
dc.rights.uri | http://creativecommons.org/licenses/by-nc-sa/4.0 | * |
dc.subject | Mobile manipulation | es_ES |
dc.subject | UAV | es_ES |
dc.subject | Teleoperation | es_ES |
dc.subject | Redundancy | es_ES |
dc.subject | Obstacle avoidance | es_ES |
dc.title | Teleoperating a mobile manipulation using a UAV camera without robot self-occlusions | es_ES |
dc.type | info:eu-repo/semantics/conferenceObject | es_ES |
dc.rights.access | info:eu-repo/semantics/embargoedAccess | es_ES |
dc.date.embargoEndDate | 2019-08-25 | es_ES |
dc.date.embargoLift | 2019-08-25 | |
UDC.startPage | 694 | es_ES |
UDC.endPage | 701 | es_ES |
UDC.conferenceTitle | XL Jornadas de Automática | es_ES |