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Title: Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622

Abstract

Robotic systems hold the potential to significantly reduce exposure of workers to hazardous environments such as in the deactivation and decommissioning (D and D) of nuclear facilities. Our goal is to enable an operator with minimal training to easily control a remote dual-arm robot to perform demolition tasks with hand tools. We propose a system that combines semi-autonomous coordination of the robot's arms with an intuitive operator interface based on virtual reality (VR) technology. A limb coordination system enables independent control of the robot arms, as well as coupled motion required to hold and manipulate rigid bodies such as reciprocating saws, angle grinders and crow bars. Using a VR head mounted display and stereo video from the robot for situational awareness and tracked VR hand controllers to command robot arm movement, an operator will be able to walk up to the control console, pick up the controllers, engage the manipulators, fly the grippers, grasp a tool with one or both robot arms and easily move them in unison to perform tasks. We present preliminary results using simulation and a physical dual-arm platform based on the Johns Hopkins University Applied Physics Laboratory's Modular Prosthetic Limb, an anthropomorphic device that provides hyper-dexterousmore » human-like manipulation capabilities. Anticipated benefits of the robotic system for D and D operations include improved situational awareness, increased mission complexity, and reduced operator training time, workload, and task execution times. (authors)« less

Authors:
; ; ; ; ;  [1];  [2]
  1. Johns Hopkins University, Applied Physics Laboratory, Baltimore, Maryland (United States)
  2. U.S. Department of Energy (United States)
Publication Date:
Research Org.:
WM Symposia, Inc., PO Box 27646, 85285-7646 Tempe, AZ (United States)
OSTI Identifier:
22977870
Report Number(s):
INIS-US-20-WM-18622
TRN: US21V0498017915
Resource Type:
Conference
Resource Relation:
Conference: WM2018: 44. Annual Waste Management Conference, Phoenix, AZ (United States), 18-22 Mar 2018; Other Information: Country of input: France; 10 refs.; Available online at: https://www.xcdsystem.com/wmsym/2018/index.html
Country of Publication:
United States
Language:
English
Subject:
12 MANAGEMENT OF RADIOACTIVE WASTES, AND NON-RADIOACTIVE WASTES FROM NUCLEAR FACILITIES; 42 ENGINEERING; ARMS; AUTOMATION; COMPUTERIZED SIMULATION; DEACTIVATION; DECOMMISSIONING; DEMOLITION; MANIPULATORS; NUCLEAR FACILITIES; PERSONNEL; REMOTE CONTROL; ROBOTS; TRAINING

Citation Formats

Handelman, David, Wormley, Jared, Dohopolski, Christopher, Johannes, Matthew, Young, Reed, McLoughlin, Michael, and Rimando, Rodrigo. Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622. United States: N. p., 2018. Web.
Handelman, David, Wormley, Jared, Dohopolski, Christopher, Johannes, Matthew, Young, Reed, McLoughlin, Michael, & Rimando, Rodrigo. Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622. United States.
Handelman, David, Wormley, Jared, Dohopolski, Christopher, Johannes, Matthew, Young, Reed, McLoughlin, Michael, and Rimando, Rodrigo. 2018. "Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622". United States.
@article{osti_22977870,
title = {Telerobotic Control of Dexterous Dual-Arm Robots for D and D Operations - 18622},
author = {Handelman, David and Wormley, Jared and Dohopolski, Christopher and Johannes, Matthew and Young, Reed and McLoughlin, Michael and Rimando, Rodrigo},
abstractNote = {Robotic systems hold the potential to significantly reduce exposure of workers to hazardous environments such as in the deactivation and decommissioning (D and D) of nuclear facilities. Our goal is to enable an operator with minimal training to easily control a remote dual-arm robot to perform demolition tasks with hand tools. We propose a system that combines semi-autonomous coordination of the robot's arms with an intuitive operator interface based on virtual reality (VR) technology. A limb coordination system enables independent control of the robot arms, as well as coupled motion required to hold and manipulate rigid bodies such as reciprocating saws, angle grinders and crow bars. Using a VR head mounted display and stereo video from the robot for situational awareness and tracked VR hand controllers to command robot arm movement, an operator will be able to walk up to the control console, pick up the controllers, engage the manipulators, fly the grippers, grasp a tool with one or both robot arms and easily move them in unison to perform tasks. We present preliminary results using simulation and a physical dual-arm platform based on the Johns Hopkins University Applied Physics Laboratory's Modular Prosthetic Limb, an anthropomorphic device that provides hyper-dexterous human-like manipulation capabilities. Anticipated benefits of the robotic system for D and D operations include improved situational awareness, increased mission complexity, and reduced operator training time, workload, and task execution times. (authors)},
doi = {},
url = {https://www.osti.gov/biblio/22977870}, journal = {},
number = ,
volume = ,
place = {United States},
year = {2018},
month = {7}
}

Conference:
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