Tele-assembly in wide remote environments

Peer, Angelika; Unterhinninghofen, U.; Buss, M.

Abstract

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.

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: 2nd International Workshop on Human-Centered Robotic Systems
• Start Date: Oct 6, 2006
• End Date: Oct 7, 2006
• Publication Date: Oct 1, 2006
• Peer Reviewed: Peer Reviewed
• Keywords: tele-assembly, remote environments
• Public URL: https://uwe-repository.worktribe.com/output/1036371
• Additional Information: Title of Conference or Conference Proceedings : 2nd International Workshop on Human-Centered Robotic Systems