Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration | |
Yule, Thomas J. ; Colgate, J. Edward ; Park, Young S. ; Ewing, Thomas F. | |
Northwestern University (Evanston, Ill.) | |
关键词: Decontamination; Robots; 42 Engineering; Remote Control; Control Systems; | |
DOI : 10.2172/835054 RP-ID : EMSP-82723-2002 RP-ID : FG07-01ER63288 RP-ID : 835054 |
|
美国|英语 | |
来源: UNT Digital Library | |
【 摘 要 】
The purpose of the work is to enhance remote operations of robotic systems for D&D tasks by extending teleoperation with semi-autonomous functions. The work leverages the $1.2M dual-arm work platform (DAWP) developed with broad participation for the CP5 D&D, as well as 2,000 hr DAWP D&D operational experience. We propose to develop a reactive, agent-based control architecture well suited to unstructured and unpredictable environments, and robot control technology, which implements a virtual fixture that can be used to guide the application of tools with force-feedback control. Developed methodologies will be implemented using a structured light sensor and robot hand controller on the dual-arm system.
【 预 览 】
Files | Size | Format | View |
---|---|---|---|
835054.pdf | 153KB | download |