A semi-autonomous teleoperation system based on robotic hand-eye coordination

摘要

Framework of semi-autonomous teleoperation system based on robotic hand-eye coordination is discussed in this paper. According to mechanisms of visual feedback control and visual feedforward control inherent in human visual guided movement, autonomous hand-eye coordination system is constructed based on binocular disparity and active contour. As an application, the hand-eye coordination robot is applied in the teleoperation system. Relative natural image user interface and tele-autonomy command programming are developed to construct human interaction with autonomous robot, so as to combine merits of human and robot into the system. The experiments show that the semi-autonomous teleoperation system based on hand-eye coordination proposed in this paper is efficient and friendly for human operator.