Vision-based virtual force guidance for tele-robotic system

•A human–robot interaction interface with force guidance is presented.•The 3D shape for task object is achieved using Power Crust algorithm.•The ground surface is calculated as an elevation map based on binocular vision.•The virtual attractive and repulsive forces are built based on the potential field.•The kinesthesis is transmitted to the operator by force feedback joysticks.

In order to improve operator performance and understanding within remote environment, a vision-based virtual forced guidance control methodology for tele-robotic system is presented. The remote operation of the construction robot is achieved by manipulating the graphic robot in a virtual environment. Based on binocular vision, the ground surface is modeled as an elevation map, and the task objects are recognized from video images and reconstructed using the Power Crust algorithm. The virtual guidance forces consisting of a pair of attractive force and repulsive force from the objects and obstacles are used to enhance the multi-task manipulation of the tele-robotic system.

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