Dexterous Manipulation: Making Remote Manipulators Easy to Use
Abstract
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.
- Authors:
- Publication Date:
- Research Org.:
- Sandia National Lab. (SNL-NM), Albuquerque, NM (United States); Sandia National Lab. (SNL-CA), Livermore, CA (United States)
- Sponsoring Org.:
- US Department of Energy (US)
- OSTI Identifier:
- 789598
- Report Number(s):
- SAND2001-3622
TRN: US0200068
- DOE Contract Number:
- AC04-94AL85000
- Resource Type:
- Technical Report
- Resource Relation:
- Other Information: PBD: 1 Nov 2001
- Country of Publication:
- United States
- Language:
- English
- Subject:
- 42 ENGINEERING; MANIPULATORS; ROBOTS; REMOTE CONTROL; COMPUTERIZED CONTROL SYSTEMS; MAN-MACHINE SYSTEMS; ROBOT; MANIPULATION; OPERATOR-SUPERVIED; SHARED CONTROL; OPERATOR PERFORMANCE
Citation Formats
HARRIGAN, RAYMOND W, and BENNETT, PHIL C. Dexterous Manipulation: Making Remote Manipulators Easy to Use. United States: N. p., 2001.
Web. doi:10.2172/789598.
HARRIGAN, RAYMOND W, & BENNETT, PHIL C. Dexterous Manipulation: Making Remote Manipulators Easy to Use. United States. https://doi.org/10.2172/789598
HARRIGAN, RAYMOND W, and BENNETT, PHIL C. 2001.
"Dexterous Manipulation: Making Remote Manipulators Easy to Use". United States. https://doi.org/10.2172/789598. https://www.osti.gov/servlets/purl/789598.
@article{osti_789598,
title = {Dexterous Manipulation: Making Remote Manipulators Easy to Use},
author = {HARRIGAN, RAYMOND W and BENNETT, PHIL C},
abstractNote = {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.},
doi = {10.2172/789598},
url = {https://www.osti.gov/biblio/789598},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Nov 01 00:00:00 EST 2001},
month = {Thu Nov 01 00:00:00 EST 2001}
}
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