The improvement of direct human-robot physical interaction has recently become one of the strongest motivation factors in robotics research. Impedance/admittance control methods are key technologies in several directions of advanced robotics such as dexterous manipulation, haptics and telemanipulation. In this paper, we propose a control scheme and a design technique for stabilising shared impe...

Recent work at JPL in real-time distributed computation and control has culminated in a prototype force-reflecting telemanipulation system having dissimilar master (cable-driven force-reflecting hand controller) and slave (PUMA 560 robot with custom controller), extremely high sampling rate (1000 Hz), and low loop computation delay (5 msec). In a series of experiments with this system and five ...

Purpose This paper presents a procedure to change the orientation of a grasped object using dexterous manipulation. The manipulation is controlled by teleoperation in a very simple way with the commands introduced by an operator using a keyboard. Design/methodology/approach The paper shows a teleoperation scheme, hand kinematics and a manipulation strategy to manipulate different objects using ...

We propose a behavioral construct called a \vir-tual tool" that allows many of the advantages of high-degree-of-freedom robotic systems to be realized without excessive computational costs or modeling requirements. The basic idea of a virtual tool is drawn from the observation that the most eecient way of performing a task is generally to use a device that is specially designed for it; this sug...

  Chi-Cheng Cheng and Jiun-Hung Chen   Department of Mechanical and Electro-Mechanical Engineering, National Sun Yat-Sen University, 70 Lian-Hai Road, Kaohsiung Taiwan 80424, Republic of China     Abstract: Telemanipulation is usually provided with the force-reflective feature to give human operators information about the remote site. However, oscillations can always been found in conta...

Pseudo-admittance is introduced as a novel bilateral telemanipulation system that is designed to mimic proportional-velocity admittance control on systems where the master is an impedance-type robot. The controller generalizes to systems with slave robots of the impedance or admittance type. Pseudo-admittance uses a proxy with admittance dynamics combined with direct force feedback from the sla...

In this paper a new open platform for experimentation in tele-manipulation tasks is presented. The main goal is to obtain an open system with several features in order to evaluate different factors like kinematics relations between master and slave, haptic feedback, bilateral control, communications bandwidth, manmachine interface with the operator, and other factors that can affect the results...