Teleoperation

We are aiming to achieve dexterous manipulation based on both redundancy and singularity by a singularity consistent approach which can handle singularity problem. In addition, a novel hand which can use various planar tools is introduced. A 6-DOF camera arm is also developed for efficient and inituitive teleoperation system.

Fig. 1 Dual arm teleoperation system

Fig. 2 Camera arm

References

1. W. K. Yoon, T. Goshozono, H. Kawabe, M. Kinami, Y. Tsumaki, M. Uchiyama, M. Oda, T. Doi, Model-Based Teleoperation of ETS-VII Manipulator, IEEE Transaction on Robotics and Automation, Vol. 20, No. 3, pp. 602-612, 2004.
2. Y. Tsumaki, M. Takahashi, W. K. Yoon, M. Uchiyama, Virtual Radar: An Obstacle Information Display System for Teleoperation, Proceedings of 2002 IEEE International Conference on Robotics and Automation, Washington D. C. pp. 1185-1190, 2002.
3. Y. Tsumaki, T. Goshozono, K. Abe, M. Uchiyama, R. Koeppe and G. Hirzinger, Experimental Verification of an Advanced Space Teleoperation System Using the Internet, Journal of Robotics and Mechatronics, Vol. 12, No. 4, pp. 356-363, 2000.
4. P. Fiorini, G. Chalfant, Y. Tsumaki, E. D. Bernardo and P. Perona, An Intelligent Vision-only Operator Interface for Dexterous Robots, Proceedings 2000 IEEE International Conference on Robotics and Automation, San Francisco, California, pp. 2665-2670, 2000.
5. Y. Tsumaki, T. Goshozono, K. Abe, M. Uchiyama, R. Koeppe and G. Hirzinger, Verification of an Advanced Space Teleoperation System Using Internet, Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems, Takamatsu, Japan, pp. 1167-1172, 2000.
6. Y. Tsumaki, P. Fiorini, G. Chalfant, H. Seraji, A Numerical SC Approach for a Teleoperated 7-DOF Manipulator, Proceedings 2001 IEEE International Conference on Robotics and Automation, Seoul, Korea, pp. 1039-1044, 2001.
7. Y. Tsumaki, Y. Hoshi, H. Naruse and M. Uchiyama, Virtual Reality Based Teleoperation which Tolerates Geometrical Modeling Errors, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, pp. 1023-1030, 1996.
8. Y. Tsumaki and M. Uchiyama, Predictive Display of Virtual Beam for Space Teleoperation, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Osaka, Japan, pp. 1544-1549, 1996.
9. Y. Tsumaki and M. Uchiyama, A Model-Based Space Teleoperation System with Robustness against Modeling Errors, Proceedings 1997 IEEE International Conference on Robotics and Automation, Albuquerque, New Mexico, pp. 1594-1599, 1997.

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