Simultaneous haptic guidance and learning of task parameters during robotic teleoperation – a geometrical approach
Thibault Poignonec,Florent Nageotte,Nabil Zemiti,Bernard Bayle,Thibault Poignonec,Florent Nageotte,Nabil Zemiti,Bernard Bayle
Haptic guidance can improve accuracy and dexterity during the teleoperation of a robot, but only if the model of the task used to provide the assistance is accurate. In medical robotics, the registration of a task from pre-operative planning from medical images to the robot’s task-space can be erroneous. Additionally, the deformability of the environment can require online correction of a planned ...
