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Skill-based telemanipulation by means of intelligent robots

: Notheis, S.; Milighetti, G.; Hein, B.; Wörn, H.; Beyerer, J.

Postprint urn:nbn:de:0011-n-1486673 (2.2 MByte PDF)
MD5 Fingerprint: b540e2dbbe4a5c063a4a10199167debb
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Erstellt am: 21.12.2010

Institute of Electrical and Electronics Engineers -IEEE-; Robotics Society of Japan -RSJ-:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2010 : October 18-22, 2010, Taipei, Taiwan
New York, NY: IEEE, 2010
ISBN: 978-1-4244-6676-4
ISBN: 978-1-4244-6674-0
ISBN: 1-4244-6674-1
ISBN: 978-1-4244-6675-7
International Conference on Intelligent Robots and Systems (IROS) <23, 2010, Taipei>
Konferenzbeitrag, Elektronische Publikation
Fraunhofer IOSB ()

In order to enable robots to execute highly dynamic tasks in dangerous or remote environments, a semiautomatic teleoperation concept has been developed and will be presented in this paper. It relies on a modular software architecture, which allows intuitive control over the robot and compensates latency-based risks by using Augmented Reality techniques together with path prediction and collision avoidance to provide the remote user with visual feedback about the tasks and skills that will be executed. Based on this architecture different skills with high dynamics are integrated in the robot control, so that they can be executed autonomously without the delayed feedback of the user. The skill-based grasping by adherence of smooth or fragile objects during a remote controlled picking and placing task will be exemplary presented.