Tele-assembly in Wide Remote Environments

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Tele-assembly in Wide Remote Environments
Telepresence offers considerable advantages in the remote execution of maintenance assignments. In this work a telepresence system is presented that allows to perform assembly tasks in remote and extensive environments. This system comprises a telemanipulator with two anthropomorphic 7-DOF arms controlled by a hyper-redundant 10-DOF haptic display. Dexterous manipulation capabilities are achieved by employing 3-finger grippers at the teleoperator site and data gloves at the operator site. An omnidirectional mobile platform provides the teleoperator with locomotion abilities. The platform motion is controlled via a specifically designed 3DOF pedal. In this paper a description of the overall teleoperation system is given, and details and results of an experiment involving locomotion, navigation and dexterous manipulation are presented.
Angelika Peer, Bartlomiej Stanczyk, Ulrich Unterhi
Added 12 Jun 2010
Updated 12 Jun 2010
Type Conference
Year 2006
Where IROS
Authors Angelika Peer, Bartlomiej Stanczyk, Ulrich Unterhinninghofen, Martin Buss
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