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Intuitive and immersive teleoperation of robot manipulators for remote decontamination: Intuitive und immersive Teleoperation von Robotermanipulatoren für die Dekontamination aus der Ferne by Michael Fennel; Antonio Zea; Uwe D. Hanebeck is a Engineering article available to read on EtoBox.

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Worker safety is one of the most important aspects of decontamination tasks in hazardous environments. This motivates the development of (semi-) autonomous robotic systems that can be teleoperated from a safe distance using simple commands such as 'move the manipulator over there and grab'. In this paper, we introduce a new control station concept called Digital Twin Control System aimed at robots with manipulator arms. It consists of three components: (1) A unified communication interface that abstracts the remote robot's functionalities into easy-to-use interaction modes, (2) an immersive visualization and assistant system to operate the interface, and (3) a haptic rendering system that can simulate arbitrary robot arms. We demonstrate how the proposed system can be used by untrained operators to pick up contaminated objects remotely in a test scenario.

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Author

Michael Fennel; Antonio Zea; Uwe D. Hanebeck

Publisher

Walter de Gruyter GmbH

Published

2022

Language

EN

Field

Engineering (Physical Sciences)