Development of a telerobotic system for exploration of hazardous environments

Abstract

Abslrucl-This work addresses the manipulation and control problems 01 a telmpersted redundant manipulator. The choice 01 a benchmark of extremely high requirements is technical aid In catastmphic situations like mad accidents, fires and natural disasters. Such scenarios demand intuitive though powerlul operation minimizing user fatigue and tension. For this reason, replicating the human motion abilities by the telemanipulator is the main challenge in the pmented design.A recently developed 6 degrees of Ireedom (bo haptic input device is used as m&er arm and an anthropomorphic, human sued 7 DoF manipulator as the slave arm. One of the problems studied here is the connection 01 two kinematically dissimilar devices working in master-slave configuration with 6 degrees of freedom kinesthetic feedback. Issues regarding kinematic control, compliant motion, transparency, and btuitiieness 01 telmperation are discussed.

Rapid Prototyping of Planning, Learning and Control in Physical Human-Robot Interaction

“…7, locomotes with its four-wheeled omni-directional mobile platform which offers roughly human-like maneuverability and smooth motion [12]. Two identical anthropomorphic 7DoF manipulators provide a human-like working space [28]. Mounted onto a JR3 wrench sensor, the manipulator is equipped with a Schunk PG70 two-finger parallel gripper which allows a tight grasp of the object.…”

Autonomous manipulation of deformable objects based on teleoperated demonstrations

“…The head itself is a pan tilt unit, but for the experiment we keep the head pose fixed. A pair of 7DoF anthropomorphic arms is mounted on the robot main chassis providing a human-like working space [6]. Attached to each arm is a JR3 force-torque sensor and a Schunk PG70 two-finger gripper.…”

An experience-driven robotic assistant acquiring human knowledge to improve haptic cooperation

“…8) stands on a four-wheeled omni-directional mobile platform (f) which offers roughly human-like maneuverability and smooth motion [16]. Two identical anthropomorphic 7-degrees-offreedom (DoF) arms (c) are front-mounted on the top of the main chassis to provide a human-like working space [17]. In this experiment, only the right arm is used.…”