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Coordinated control of a dual-arm dexterous robot using full immersion telepresence and virtual realityTelepresence is an approach to teleoperation that provides egocentric, intuitive interactions between an operator and a remote environment. This approach takes advantage of the natural cognitive and sensory motor skills of an on-board crew and effectively transfers them to a slave robot. A dual alarm dexterous robot operating under telepresence control has been developed and initial evaluations of the system performing candidate EVA, IVA and planetary geological tasks were conducted. The results of our evaluation showed that telepresence control is very effective in transferring the operator's skills to the slave robot. However, the results also showed that, due to the kinematic and dynamics inconsistencies between the operator and the robot, a limited amount of intelligent automation is also required to carry out some to the tasks. Therefore, several enhancements have been made to the original system to increase the automated capabilities of the control system without losing the benefits of telepresence.
Document ID
19950009564
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Li, Larry (NASA Lyndon B. Johnson Space Center Houston, TX, United States)
Cox, Brian (NASA Lyndon B. Johnson Space Center Houston, TX, United States)
Shelton, Susan (NASA Lyndon B. Johnson Space Center Houston, TX, United States)
Diftler, Myron (NASA Lyndon B. Johnson Space Center Houston, TX, United States)
Date Acquired
September 6, 2013
Publication Date
November 1, 1994
Publication Information
Publication: ISMCR 1994: Topical Workshop on Virtual Reality. Proceedings of the Fourth International Symposium on Measurement and Control in Robotics
Subject Category
Cybernetics
Accession Number
95N15979
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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