Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

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Description

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 cobot 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 cobot hand controller ... continued below

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Park, Young S.; Colgate, J. Edward; Ewing, Thomas F.; Kang, Hyoisig & Peshkin, Michael June 2003.

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Description

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 cobot 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 cobot hand controller on the dual-arm system.

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  • Other Information: PBD: 1 Jun 2003

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  • Report No.: EMSP-82723-2003
  • Grant Number: FG07-01ER63288
  • DOI: 10.2172/835101 | External Link
  • Office of Scientific & Technical Information Report Number: 835101
  • Archival Resource Key: ark:/67531/metadc779751

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  • June 2003

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  • Dec. 3, 2015, 9:30 a.m.

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  • Feb. 2, 2016, 5:04 p.m.

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Park, Young S.; Colgate, J. Edward; Ewing, Thomas F.; Kang, Hyoisig & Peshkin, Michael. Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration, report, June 2003; Chicago, Illinois. (digital.library.unt.edu/ark:/67531/metadc779751/: accessed August 22, 2017), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.