Internet-Based Supervisory Teleoperation of a Virtual Humanoid Robot

Suárez-Ruiz, Francisco; Owen-Hill, Alexander; Ferré, Manuel

doi:10.1007/978-3-319-03653-3_26

Cited by 1 publication

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References 14 publications

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“…These competitions are mostly devoted to comparing the software algorithms used to sense, map and navigate the environment, with several competitions utilising common hardware platforms across competitors, including RoboCup with the Aldebaran NAO robot and some stages of the Darpa Challenge using the Atlas robot. In these cases the autonomy of the robots is the key factor and teleoperation is often not possible or, in the case of the Darpa Challenge 2014, penalised within the scoring system [56]. Therefore, despite the large number of competitions, it is uncommon for the benchmarking of telemanipulation to be covered in any more than a cursory manner.…”

Section: State Of the Art In Telemanipulation Benchmarkingmentioning

confidence: 99%

Task-based telemanipulation for maintenance in large scientific facilities

Owen-Hill¹

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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.

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Section: State Of the Art In Telemanipulation Benchmarkingmentioning

confidence: 99%

Task-based telemanipulation for maintenance in large scientific facilities

Owen-Hill¹

Self Cite

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Internet-Based Supervisory Teleoperation of a Virtual Humanoid Robot

Cited by 1 publication

References 14 publications

Task-based telemanipulation for maintenance in large scientific facilities

Task-based telemanipulation for maintenance in large scientific facilities

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