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Title: 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 Labs., Albuquerque, NM (US); Sandia National Labs., Livermore, CA (US)
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. doi:10.2172/789598.
HARRIGAN, RAYMOND W, and BENNETT, PHIL C. Thu . "Dexterous Manipulation: Making Remote Manipulators Easy to Use". United States. doi: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},
journal = {},
number = ,
volume = ,
place = {United States},
year = {Thu Nov 01 00:00:00 EST 2001},
month = {Thu Nov 01 00:00:00 EST 2001}
}

Technical Report:

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