刘景泰, 李海丰, 孙雷, 黄际劲, 张星星, 李岩. Tele-LightSaber——一种高对抗度竞争型网络机器人系统[J]. 机器人, 2009, 31(6): 505-512..
LIU Jingtai, LI Haifeng, SUN Lei, HUANG Jijin, ZHANG Xingxing, LI Yan. Tele-LightSaber-A Kind of Competitive Networked Robots with High Degree of Opposition. ROBOT, 2009, 31(6): 505-512..
Abstract:The interaction and the real-time performance are the two key influencing factors for the performance of competitive networked robot system.Faced on these factors,a typical task of competitive networked robot system with high degree of opposition,named Tele-LightSaber(TLS),is developed to seek an applicable control scheme to the competitive networked robots.A hierarchical control strategy which is divided into two levels such as upper controller with human teleoperation and bottom controller with visual servo is presented.Finally,experiments on TLS are carried out respectively by the proposed approach and the traditional tele-operation methods,and experimental results show that the former has great advantages in real-time performance and tracking errors.
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