Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration
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.
- Research Organization:
- Northwestern University, Chicago, IL; Argonne National Lab., Argonne, IL (US)
- Sponsoring Organization:
- USDOE Office of Science (SC) (US)
- DOE Contract Number:
- FG07-01ER63288
- OSTI ID:
- 835101
- Report Number(s):
- EMSP-82723-2003; R&D Project: EMSP 82723; TRN: US0500006
- Resource Relation:
- Other Information: PBD: 1 Jun 2003
- Country of Publication:
- United States
- Language:
- English
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