KIST teleoperation system for humanoid robot

Chang, Sokho; Kim, Jung‐Tae; Kim, Insup; Borm, Jin-Hwan; Lee, Chong-Won; Park, Jong Oh

doi:10.1109/iros.1999.812842

Cited by 23 publications

(1 citation statement)

References 2 publications

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“…Only a few more advanced telemanipulation systems operating in 6 DOF and using haptic interfaces as well as telemanipulators with human scaled workspace are known. In [5] as well as in [6, 7] a teleoperation system with 7 DOF exoskeletons used as haptic input devices and 7 DOF humanoid telemanipulators are presented. But as working with exoskele-tons is very fatiguing these systems are very limited in their performance (the entire range of human arm movements is restricted and long time operations are not possible because of the high weight of the system, see [8]).…”

Section: Introductionmentioning

confidence: 99%

Tele-assembly in Wide Remote Environments

Peer¹,

Stanczyk²,

Unterhinninghofen

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Telepresence offers considerable advantages in the remote execution of maintenance assignments. In this work a telepresence system is presented that allows to perform assembly tasks in remote and extensive environments. This system comprises a telemanipulator with two anthropomorphic 7-DOF arms controlled by a hyper-redundant 10-DOF haptic display. Dexterous manipulation capabilities are achieved by employing 3-finger grippers at the teleoperator site and data gloves at the operator site. An omnidirectional mobile platform provides the teleoperator with locomotion abilities. The platform motion is controlled via a specifically designed 3-DOF pedal. In this paper a description of the overall teleoperation system is given, and details and results of an experiment involving locomotion, navigation and dexterous manipulation are presented.

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Section: Introductionmentioning

confidence: 99%

Tele-assembly in Wide Remote Environments

Peer¹,

Stanczyk²,

Unterhinninghofen

et al. 2006

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Intuitive endoscopic robot master device with image orientation correction

Cheon

Kim

Kwon

2022

Robotics Computer Surgery

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Background The camera of an endoscope is fixed to the device, and the image rotates together with the endoscope. This can lead to visual confusion for the user and incorrect image reading. The problem also occurs with endoscopic robots. Using a master device with the same degrees of freedom as the endoscope to control an endoscopic robot causes visual‐motor misorientation, making intuitive control difficult. Methods The roll misorientation between the image and master device handle was removed by measuring and correcting for the roll axis displacement of the master device. This enabled intuitive manipulation of the master device. The work speed and number of mistakes were experimentally measured with and without image correction. Results The tasks were completed significantly faster and more accurately with image orientation correction than without. Conclusions The proposed method enables intuitive manipulation of the master device by correcting the image orientation in endoscopic robot control.

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