In this paper we present a framework that enables an operator to haptically and visually interact with a simulated dynamic environment subject to virtual holonomic constraints. The framework combines a geometric constraint solver with a constrained dynamics simulation engine that controls an admittance-type haptic display. This system takes on relevant issues in the context of assisted teleoperated tasks, from providing an intuitive interface for creating and combining virtual constraints, to haptically displaying rigid motion constraints in simulated environments subject to desired inertial dynamics. Two experiments carried out using the Cobotic Hand Controller haptic display are presented.
Abbott, J.J. and Okamura, A.M. ( 2007). Pseudo-admittance bilateral telemanipulation with guidance virtual fixtures. The International Journal of Robotics Research , 26(8): 865-884.
2.
Anderson, R. and Spong, M. ( 1989). Bilateral control of teleoperators with time delay. IEEE Transactions on Automatic Control, 34(5): 494-501.
3.
Chopra, N. and Spong, M. ( 2006). Output synchronization of nonlinear systems with time delay in communication. Proceedings of the IEEE Conference on Decision and Control, pp. 4986-4992.
4.
De Schutter, J., De Laet, T., Rutgeerts, J., Decré, W., Smits, R., Aertbeliën, E., Claes, K. and Bruyninckx, H. ( 2007). Constraint-based task specification and estimation for sensor-based robot systems in the presence of geometric uncertainty. The International Journal of Robotics Research, 26(5): 433-455.
5.
Faulring, E.L. ( 2005). The Cobotic Hand Controller: design, control and analysis of a novel haptic display. PhD Thesis, Northwestern University .
6.
Faulring, E.L., Colgate, J. and Peshkin, M.A. ( 2004). A high performance 6-dof haptic cobot. IEEE International Conference on Robotics and Automation, New Orleans, LA, pp. 1980-1985.
7.
Faulring, E.L., Colgate, J. and Peshkin, M.A. ( 2006). The cobotic hand controller: design, control and performance of a novel haptic display. The International Journal of Robotics Research, 25(11): 1099-1119.
8.
Faulring, E.L., Lynch, K.M., Colgate, J. and Peshkin, M.A. ( 2007). Haptic display of constrained dynamic systems via admittance displays. IEEE Transactions on Robotics, 23(1): 101-111.
9.
Force Dimension (2008). http://www.forcedimension.com/products.
10.
Freeman-Benson, B., Maloney, J. and Borning, A. ( 1990). An incremental constraint solver. Communications of the ACM, 33(1): 54-63.
11.
Hoffmann, C. ( 2005). Constraint-based CAD. Journal of Computing and Information Science in Engineering, 5(3): 182- 197.
12.
Kageyama, A. and Sato, T. ( 2004). "Yin-Yang Grid": an over-set grid in spherical geometry . Geochemistry Geophysics Geosystems, 5(Q09005): doi:10.1029/2004GC000734.
13.
Kramer, G. ( 1992). Solving Geometric Constraint Systems. MIT Press, Cambridge, MA.
14.
Latham, R. and Middleditch, A. ( 1996). Connectivity analysis: a tool for processing geometric constraints. Computer-Aided Design, 28(11): 917-928.
15.
Li, M., Kapoor, A. and Taylor, R.H. ( 2007). Telerobotic Control by Virtual Fixtures for Surgical Applications (Transactions in Advanced Robotics-Advances in Telerobotics, Vol. 31). Springer, Berlin, pp. 381-401.
16.
Liu, G. and Li, Z. ( 2002). A unified geometric approach to modelling and control of constrained mechanical systems. IEEE Transactions on Robotics and Automation, 18(4): 574-587.
17.
Massie, T. and Salisbury, J. ( 1994). The PHANToM haptic interface, a device for probing virtual objects. ASME WinterAnnual Meeting, Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, Chicago, IL, pp. 295-302.
18.
Nuño, E., Basañez, L., Ortega, R. and Spong, M. ( 2008). On position tracking for nonlinear teleoperators with variable time-delay. The International Journal ofRobotics Research, in press.
19.
Porta, J.M., Ros, L., Thomas, F. and Torras, C. ( 2005). A branch-and-prune solver for distance constraints. IEEE Transactions on Robotics, 21(2): 176-187.
20.
Rodríguez, A., Basañez, L. and Celaya, E. ( 2007). Description of a robotics-oriented relational positioning methodology. Technical Report, Technical University of Catalonia, https://upcommons.upc.edu/e-prints/handle/2117/1531?locale=en.
21.
Rodríguez, A., Basañez, L. and Celaya, E. ( 2008a). A relational positioning methodology for robot task specification and execution. IEEE Transactions on Robotics , 24(3): 600- 611.
22.
Rodríguez, A., Basañez, L., Colgate, J.E. and Faulring, E.L. ( 2008b). Haptic display of dynamic systems subject to holonomic constraints. IEEE International Conference on Intelligent Robots and Systems, Nice, France, pp. 3002- 3007.
23.
Rosenberg, L.B. ( 1993). Virtual fixtures: perceptual tools for telerobotic manipulation . Proceedings of the IEEE Annual International Symposium on Virtual Reality, pp. 76-82.
24.
Ruspini, D. and Khatib, O. ( 2001). Haptic display for human interaction with virtual dynamic environments. Journal of Robotic Systems, 18(12): 769-783.
25.
Salisbury, K., Eberman, B., Levin, M. and Townsend, W. ( 1991). The design and control of an experimental whole-arm manipulator. The 5th International Symposium onRobotics Research, pp. 233-241.
26.
Taylor, R.H., Jensen, P., Whitcomb, L.L., Barnes, A., Kumar, R., Stoianovici, D., Gupta, P., Wang, Z., d Juan, . E. and Kavoussi, L. ( 1999). A steady-hand robotic system for microsurgical augmentation . Presented at the Medical Image Computing and Computer-Assisted Intervention, Cambridge, UK.
27.
Turro, N., Khatib, O. and Coste-Maniere, E. ( 2001). Haptically augmented teleoperation. IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 386-392.
28.
Van der Linde, R., Lammerste, P., Frederiksen, E. and Ruiter, B. ( 2002). The HapticMaster, a new high-performance haptic interface . Eurohaptics, Edinburgh, UK.
29.
Yun, X. and Sarkar, N. ( 1998). Unified formulation of robotic systems with holonomic and nonholonomic constraints. IEEE Transactions on Robotics and Automation, 14(4): 640-650.
30.
Zilles, C. and Salisbury, J. ( 1995). A constraint-based god-object method for haptic display . IEEE International Conference on Intelligent Robots and Systems, pp. 146- 151.
Supplementary Material
Please find the following supplemental material available below.
For Open Access articles published under a Creative Commons License, all supplemental material carries the same license as the article it is associated with.
For non-Open Access articles published, all supplemental material carries a non-exclusive license, and permission requests for re-use of supplemental material or any part of supplemental material shall be sent directly to the copyright owner as specified in the copyright notice associated with the article.
