Dexterous Manipulation: Making Remote Manipulators Easy to Use

HARRIGAN, RAYMOND W. ; BENNETT, PHIL C.

Sandia National Laboratories

关键词: Man-Machine Systems Robot;    Operator-Supervied;    Manipulators;    Shared Control;    Robots;   

DOI  :  10.2172/789598
RP-ID  :  SAND2001-3622
RP-ID  :  AC04-94AL85000
RP-ID  :  789598

美国|英语

来源: UNT Digital Library

【 摘 要 】

Perhaps the most basic barrier to the widespread deployment of remote manipulators is that they are very difficult to use. Remote manual operations are fatiguing and tedious, while fully autonomous systems are seldom able to function in changing and unstructured environments. An alternative approach to these extremes is to exploit computer control while leaving the operator in the loop to take advantage of the operator's perceptual and decision-making capabilities. This report describes research that is enabling gradual introduction of computer control and decision making into operator-supervised robotic manipulation systems, and its integration on a commercially available, manually controlled mobile manipulator.