Tele-assembly in wide remote environments

Peer, A., Unterhinninghofen, U. and Buss, M. (2006) Tele-assembly in wide remote environments. In: 2nd International Workshop on Human-Centered Robotic Systems, Munich, Germany, 6-7 October 2006. Available from: http://eprints.uwe.ac.uk/23884

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Abstract/Description

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 3- DOF 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.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:tele-assembly, remote environments
Faculty/Department:Faculty of Environment and Technology > Department of Engineering Design and Mathematics
ID Code:23884
Deposited By: Professor A. Peer
Deposited On:25 Sep 2014 08:18
Last Modified:12 Apr 2016 13:07

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