Abstract

This paper addresses the implementation of sensory basis to support enhanced teleoperation. By adopting multiple structured light systems, each of which consists of a camera and patterned beam projector, the sensor basis supposedly provides an added level of flexibility and adaptability to variable and unstructured task conditions. The technological innovations include calibration of multiple structured light systems and on-line 3D pose measurement. The application of sensory basis is demonstrated for two types of enhanced teleoperation, namely tele-autonomy and tele-collaboration. The sensory information aids in tele-autonomy by generating autonomous motions, and is utilized in tele-collaboration for generating virtual fixtures.

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