Haptic telemanipulation in extensive remote environments

Peer, Angelika; Unterhinninghofen, U.; Lee, K.K.; Stanczyk, B.; Buss, M.

Abstract

We present a telepresence system with visual and haptic feedback for a telemanipulation task in full six degrees-of-freedom. The employed teleoperator consists of an anthropomorphic manipulator arm mounted on a mobile base to allow task execution in wide remote environments. On the operator side we use a hyperredundant force-reflecting input device. Control issues of operator and teleoperator and the coupling between them is discussed. Experimental results validate the approach.

Citation

Peer, A., Unterhinninghofen, U., Lee, K., Stanczyk, B., & Buss, M. (2005, October). Haptic telemanipulation in extensive remote environments. Paper presented at Joint International COE/HAM SFB-453 Workshop on Human Adaptive Mechatronics and High-Fidelity Telepresence

• Presentation Conference Type: Conference Paper (unpublished)
• Conference Name: Joint International COE/HAM SFB-453 Workshop on Human Adaptive Mechatronics and High-Fidelity Telepresence
• Start Date: Oct 6, 2005
• End Date: Oct 6, 2005
• Publication Date: Oct 6, 2005
• Peer Reviewed: Peer Reviewed
• Keywords: haptics, telemanipulation, remote environments
• Publisher URL: http://web.lsr.ei.tum.de/Files/Workshop%20Program.pdf
• Additional Information: Title of Conference or Conference Proceedings : Joint International COE/HAM SFB-453 Workshop on Human Adaptive Mechatronics and High-Fidelity Telepresence