skip to main content
OSTI.GOV title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration

Abstract

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.

Authors:
; ; ;
Publication Date:
Research Org.:
Argonne National Lab., Argonne, IL; Northwestern University, Evanston, IL (US)
Sponsoring Org.:
USDOE Office of Science (SC) (US)
OSTI Identifier:
839105
Report Number(s):
EMSP-82723-2004
R&D Project: EMSP 82723; TRN: US0501565
DOE Contract Number:  
FG07-01ER63288
Resource Type:
Technical Report
Resource Relation:
Other Information: PBD: 1 Jun 2004
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; REMOTE CONTROL; ROBOTS; DECONTAMINATION; DECOMMISSIONING; COMPUTERIZED CONTROL SYSTEMS

Citation Formats

Ewing, Thomas F, Colgate, J Edward, Park, Young S, and Peshkin, Michael A. Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration. United States: N. p., 2004. Web. doi:10.2172/839105.
Ewing, Thomas F, Colgate, J Edward, Park, Young S, & Peshkin, Michael A. Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration. United States. https://doi.org/10.2172/839105
Ewing, Thomas F, Colgate, J Edward, Park, Young S, and Peshkin, Michael A. 2004. "Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration". United States. https://doi.org/10.2172/839105. https://www.osti.gov/servlets/purl/839105.
@article{osti_839105,
title = {Remote Manipulation for D&D Exhibiting Teleautonomy and Telecollaboration},
author = {Ewing, Thomas F and Colgate, J Edward and Park, Young S and Peshkin, Michael A},
abstractNote = {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.},
doi = {10.2172/839105},
url = {https://www.osti.gov/biblio/839105}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Jun 01 00:00:00 EDT 2004},
month = {Tue Jun 01 00:00:00 EDT 2004}
}