Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

Technical Report · Sat Jun 01 00:00:00 EDT 2002

DOI:https://doi.org/10.2172/835054· OSTI ID:835054

Yule, Thomas J; Colgate, J Edward; Park, Young S; Ewing, Thomas F

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.

• Research Organization: Northwestern University, Evanston, IL (US)
• Sponsoring Organization: USDOE Office of Environmental Management (EM) (US)
• DOE Contract Number: FG07-01ER63288
• OSTI ID: 835054
• Report Number(s): EMSP-82723-2002; R&D Project: EMSP 82723; TRN: US0407460
• Resource Relation: Other Information: PBD: 1 Jun 2002
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
DECOMMISSIONING
DECONTAMINATION
ROBOTS
REMOTE CONTROL
CONTROL SYSTEMS