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2004
Springer

Robust Haptic Teleoperation of a Mobile Manipulation Platform

9 years 4 months ago
Robust Haptic Teleoperation of a Mobile Manipulation Platform
This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics of the mobile manipulator. This scheme is robust in the presence of time delays and disturbances and provides good tele-presence. The slave manipulator is mounted on a mobile base and controlled within the operational space framework. In this framework, the redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics.
Jaeheung Park, Oussama Khatib
Added 02 Jul 2010
Updated 02 Jul 2010
Type Conference
Year 2004
Where ISER
Authors Jaeheung Park, Oussama Khatib
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