Environment modeling and path planning for a semi-autonomous manipulator system for decontamination and release measurement

Worker safety is one of the most important aspects of decontamination tasks in hazardous environments. This motivates the development of (semi-) autonomous robotic systems that can be teleoperated from a safe distance using simple commands such as ‘move the manipulator over there and grab’. In this paper, we introduce a new control station concept called Digital Twin Control System aimed at robots with manipulator arms. It consists of three components: (1) A unified communication interface that abstracts the remote robot’s functionalities into easy-to-use interaction modes, (2) an immersive visualization and assistant system to operate the interface, and (3) a haptic rendering system that can simulate arbitrary robot arms. We demonstrate how the proposed system can be used by untrained operators to pick up contaminated objects remotely in a test scenario.

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Intuitive and immersive teleoperation of robot manipulators for remote decontamination

Fennel

Zea

Hanebeck

2022

At - Automatisierungstechnik

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Environment modeling and path planning for a semi-autonomous manipulator system for decontamination and release measurement

Cited by 1 publication

References 7 publications

Intuitive and immersive teleoperation of robot manipulators for remote decontamination

Intuitive and immersive teleoperation of robot manipulators for remote decontamination

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