Development and Testing of a Telemanipulation System With Arm and Hand Motion

Turner, Michael L.; Findley, Ryan P.; Griffin, Weston B.; Cutkosky, Mark R.; Gómez, Daniel

doi:10.1115/imece2000-2412

Cited by 15 publications

(2 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Similar, to "embodied", this modifier references the human kinesthetic sense, enabled by proprioception, which is, roughly, the sense and experience of the body in space 3. Here, we will capitalize terms used from LBMS so as to distinguish them from their colloquial usages.…”

mentioning

confidence: 99%

An Embodied, Platform-invariant Architecture for Connecting High-level Spatial Commands to Platform Articulation

Sher,

Huzaifa,

et al. 2019

Preprint

View full text Add to dashboard Cite

In contexts such as teleoperation, robot reprogramming, human-robot-interaction, and neural prosthetics, conveying movement commands to a robotic platform is often a limiting factor. Currently, many applications rely on jointangle-by-joint-angle prescriptions. This inherently requires a large number of parameters to be specified by the user that scales with the number of degrees of freedom on a platform, creating high bandwidth requirements for interfaces. This paper presents an efficient representation of high-level, spatial commands that specifies many joint angles with relatively few parameters based on a spatial architecture that is judged favorably by human viewers. In particular, a general method for labeling connected platform linkages, generating a databank of user-specified poses, and mapping between high-level spatial commands and specific platform static configurations are presented. Thus, this architecture is "platform-invariant" where the same high-level, spatial command can be executed on any platform. This has the advantage that our commands have meaning for human movers as well. In order to achieve this, we draw inspiration from Laban/Bartenieff Movement Studies, an embodied taxonomy for movement description. The architecture is demonstrated through implementation on 26 spatial directions for a Rethink Robotics Baxter, an Aldebaran NAO, and a KUKA youBot. User studies are conducted to validate the claims of the proposed framework.

show abstract

mentioning

confidence: 99%

An Embodied, Platform-invariant Architecture for Connecting High-level Spatial Commands to Platform Articulation

Sher,

Huzaifa,

et al. 2019

Preprint

View full text Add to dashboard Cite

show abstract

“…2. Block-stacking [94][95][96][97][98] -This task involves the stacking of either identical or differently shaped blocks on top of each other. The main aspect being tested in this is usually the artificial intelligence algorithm which plans which blocks should be moved in which order to move from the start configuration to a defined goal configuration, such as the dock-worker robot problem [99].…”

Section: Review Of Telemanipulator Performance Tasksmentioning

confidence: 99%

Task-based telemanipulation for maintenance in large scientific facilities

Owen-Hill¹

View full text Add to dashboard Cite

This thesis presents a task-oriented approach to telemanipulation for maintenance in large scientific facilities, with specific focus on the particle accelerator facilities at European Organization for Nuclear Research (CERN) in Geneva, Switzerland and GSI Helmholtz Centre for Heavy Ion Research (GSI) in Darmstadt, Germany. It examines how telemanipulation can be used in these facilities and reviews how this differs from the representation of telemanipulation tasks within the literature. It provides methods to assess and compare telemanipulation procedures as well a test suite to compare telemanipulators themselves from a dexterity perspective.It presents a formalisation of telemanipulation procedures into a hierarchical model which can be then used as a basis to aid maintenance engineers in assessing tasks for telemanipulation, and as the basis for future research. The model introduces a new concept of Elemental Actions as the building block of telemanipulation movements and incorporates the dependent factors for procedures at a higher level of abstraction.In order to gain insight into realistic tasks performed by telemanipulation systems within both industrial and research environments a survey of teleoperation experts is presented.Analysis of the responses is performed from which it is concluded that there is a need within the robotics community for physical benchmarking tests which are geared towards evaluating the dexterity of telemanipulators for comparison of their dexterous abilities.A three stage test suite is presented which is designed to allow maintenance engineers to assess different telemanipulators for their dexterity. This incorporates general characteristics of the system, a method to compare kinematic reachability of multiple telemanipulators and physical test setups to assess dexterity from a both a qualitative perspective and measurably by using performance metrics.Finally, experimental results are provided for the application of the proposed test suite onto two telemanipulation systems, one from a research setting and the other within CERN. It describes the procedure performed and discusses comparisons between the two systems, as well as providing input from the expert operator of the CERN system.

show abstract

Design Considerations of Dexterous Telerobotics

Berman

2015

Studies in Systems, Decision and Control

View full text Add to dashboard Cite

Dexterous telerobotic systems are system in which the operation of a robotic hand is remotely controlled by the operator's hand and finger motion. Such systems have been slower to develop than general telerobotic systems which do not utilize finger motion. This is due to the requirements and challenges placed by dexterous telerobotics on both the remote and the local sites. The current chapter presents the challenges and design considerations of dexterous telerobotic systems and discusses them in the context of different remote control methodologies, namely direct, bilateral, supervisory, and shared control.

show abstract

Development and Testing of a Telemanipulation System With Arm and Hand Motion

Cited by 15 publications

References 11 publications

An Embodied, Platform-invariant Architecture for Connecting High-level Spatial Commands to Platform Articulation

An Embodied, Platform-invariant Architecture for Connecting High-level Spatial Commands to Platform Articulation

Task-based telemanipulation for maintenance in large scientific facilities

Design Considerations of Dexterous Telerobotics

Contact Info

Product

Resources

About