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Proceedings Paper

Testbed for remote telepresence research
Author(s): Sarmad Adnan; John B. Cheatham, Jr.
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Paper Abstract

Teleoperated robots offer solutions to problems associated with operations in remote and unknown environments, such as space. Teleoperated robots can perform tasks related to inspection, maintenance, and retrieval. A video camera can be used to provide some assistance in teleoperations, but for fine manipulation and control, a telepresence system that gives the operator a sense of actually being at the remote location is more desirable. A telepresence system comprised of a head-tracking stereo camera system, a kinematically redundant arm, and an omnidirectional mobile robot has been developed at the mechanical engineering department at Rice University. This paper describes the design and implementation of this system, its control hardware, and software. The mobile omnidirectional robot has three independent degrees of freedom that permit independent control of translation and rotation, thereby simulating a free flying robot in a plane. The kinematically redundant robot arm has eight degrees of freedom that assist in obstacle and singularity avoidance. The on-board control computers permit control of the robot from the dual hand controllers via a radio modem system. A head-mounted display system provides the user with a stereo view from a pair of cameras attached to the mobile robotics system. The head tracking camera system moves stereo cameras mounted on a three degree of freedom platform to coordinate with the operator's head movements. This telepresence system provides a framework for research in remote telepresence, and teleoperations for space.

Paper Details

Date Published: 1 November 1992
PDF: 8 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131716
Show Author Affiliations
Sarmad Adnan, Rice Univ. (United States)
John B. Cheatham, Jr., Rice Univ. (United States)


Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)

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