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Teleoperated Robot Control


Coordinated project funded by 'Comisión Interministerial de Ciencia y Tecnología' (CICYT), and composed of two subprojects:

  1. Automatic learning systems in control architectures for robot Teleoperation. Universidad Miguel Hernández.

  2. Development of sensorial control tools based in computer vision techniques, for teleoperation applications in non-structured environments Universidad Politécnica de Madrid (DISAM)

PA10 This project proposes the development of a teleoperated system with a high degree of automatization which learns tasks previously done by an operator. The need of learning of task capabilities shows up from the consideration of operation in non-structured and unknown environments. In this way, in the first stage, will be the operator who shows the way a remote task must be done, and afterwards, the system must learn the specific relations that define such execution in order to repeat that task in similar conditions. Working with unknown environments allows to significantly increasing the application field for teleoperation in a way that facilitates the execution of remote tasks in a wide spectrum of activities that involves a risk for the operator. This condition imposes to have enough information from the working environment in order to use a supervised working mode with semiautomatic task where the operator only checks for correct execution. The required information is recovered processing images taken from cameras located near the robot in the working area. This project proposes the use of vision techniques based on non-calibrated cameras models which gives the opportunity to deal with changing working environments with the drawback of losing some precision. Several research lines have been followed in the studies of both subprojects of the coordinated project. These lines can be resumed in the following points:

  • USER INTERFACE
  • ROBOT PROGRAMMING IN NATURAL LANGUAGE
  • LEARNING IN TELEOPERATED SYSTEMS
  • BILATERAL CONTROL IN TELEOPERATED SYSTEMS

Results


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Miguel Hernández University