HapticV1, PascalFrancis, Corpus, bibRecord, 000D39

Disposal of explosive ordnances by use of a bimanual haptic telepresence system

Identifieur interne : 000D39 ( PascalFrancis/Corpus ); précédent : 000D38; suivant : 000D40

Disposal of explosive ordnances by use of a bimanual haptic telepresence system

Auteurs : Alexander Kron ; Günther Schmidt ; Bernd Petzold ; Michael I. Z H ; Peter Hinterseer ; Eckehard Steinbach

Source :

RBID : Pascal:06-0270015

Descripteurs français

Pascal (Inist)
- Téléopération, Rétroaction, Homme, Système commande adaptative modèle référence, Programme commande, Commande force, Sensibilité tactile, Main, Manipulateur, Visualisation, Compression donnée, Déminage.

English descriptors

KwdEn :
- Control program, Data compression, Demining, Feedback regulation, Force control, Hand, Human, Manipulator, Model reference adaptive control systems, Remote operation, Tactile sensitivity, Visualization.

Abstract

The paper outlines a novel approach for performing explosive ordnance disposal by use of a bimanual haptic telepresence system. This system enables an operator to perceive multimodal feedback from a remote environment for proper task execution. The developed experimental setup, comprising a bimanual human system interface and the corresponding bimanual teleoperator for use of both hands, is presented in detail. The teleoperation control architecture is discussed as well as a local model-based impedance control algorithm for manipulator control. Human-system performance is improved by means of stereo visualization of the tele-environment together with overlayed Augmented Reality assistance, and an algorithm for avoidance of dangerous manipulator configurations supported by augmented force feedback. Furthermore, a recently developed UDP communication library is presented for system interconnection taking into account compression of haptic data. Thus efficient and low delay of data transfer is ensured. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing a relevant task scenario, such as demining operations in a remote environment.

Notice en format standard (ISO 2709)

Pour connaître la documentation sur le format Inist Standard.

A08	`01`	`1`	`ENG`	`@1 Disposal of explosive ordnances by use of a bimanual haptic telepresence system`
A09	`01`	`1`	`ENG`	`@1 2004 IEEE International Conference on Robotics and Automation : April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA : Proceedings`
A11	`01`	`1`		`@1 KRON (Alexander)`
A11	`02`	`1`		`@1 SCHMIDT (Günther)`
A11	`03`	`1`		`@1 PETZOLD (Bernd)`
A11	`04`	`1`		`@1 ZÄH (Michael I.)`
A11	`05`	`1`		`@1 HINTERSEER (Peter)`
A11	`06`	`1`		`@1 STEINBACH (Eckehard)`
A14	`01`			`@1 Institute of Automatic Control Engineering (LSR) Interactive Control Group Technische Universität München @3 DEU @Z 1 aut. @Z 2 aut.`
A14	`02`			`@1 Institute for Machine Tools and Industrial Management (iwb) Technische Universität München @3 DEU @Z 3 aut. @Z 4 aut.`
A14	`03`			`@1 Institute of Communication Networks (LKN) Media Technology Group Technische Universität München @3 DEU @Z 5 aut. @Z 6 aut.`
A18	`01`	`1`		`@1 IEEE Robotics and automation society @3 USA @9 org-cong.`
A20				`@1 1968-1973`
A21				`@1 2004`
A23	`01`			`@0 ENG`
A25	`01`			`@1 IEEE @2 Piscataway NJ`
A26	`01`			`@0 0-7803-8232-3`
A30	`01`	`1`	`ENG`	`@1 IEEE International Conference on Robotics and Automation @2 21 @3 New Orleans LA USA @4 2004`
A43	`01`			`@1 INIST @2 Y 38842 @5 354000153471323180`
A44				`@0 0000 @1 © 2006 INIST-CNRS. All rights reserved.`
A45				`@0 17 ref.`
A47	`01`	`1`		`@0 06-0270015`
A60				`@1 C`
A61				`@0 A`
A66	`01`			`@0 USA`
C01	`01`		`ENG`	@0 The paper outlines a novel approach for performing explosive ordnance disposal by use of a bimanual haptic telepresence system. This system enables an operator to perceive multimodal feedback from a remote environment for proper task execution. The developed experimental setup, comprising a bimanual human system interface and the corresponding bimanual teleoperator for use of both hands, is presented in detail. The teleoperation control architecture is discussed as well as a local model-based impedance control algorithm for manipulator control. Human-system performance is improved by means of stereo visualization of the tele-environment together with overlayed Augmented Reality assistance, and an algorithm for avoidance of dangerous manipulator configurations supported by augmented force feedback. Furthermore, a recently developed UDP communication library is presented for system interconnection taking into account compression of haptic data. Thus efficient and low delay of data transfer is ensured. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing a relevant task scenario, such as demining operations in a remote environment.
C02	`01`	`X`		`@0 001D02D11`
C03	`01`	`X`	`FRE`	`@0 Téléopération @5 06`
C03	`01`	`X`	`ENG`	`@0 Remote operation @5 06`
C03	`01`	`X`	`SPA`	`@0 Teleacción @5 06`
C03	`02`	`X`	`FRE`	`@0 Rétroaction @5 07`
C03	`02`	`X`	`ENG`	`@0 Feedback regulation @5 07`
C03	`02`	`X`	`SPA`	`@0 Retroacción @5 07`
C03	`03`	`X`	`FRE`	`@0 Homme @5 08`
C03	`03`	`X`	`ENG`	`@0 Human @5 08`
C03	`03`	`X`	`SPA`	`@0 Hombre @5 08`
C03	`04`	`3`	`FRE`	`@0 Système commande adaptative modèle référence @5 09`
C03	`04`	`3`	`ENG`	`@0 Model reference adaptive control systems @5 09`
C03	`05`	`X`	`FRE`	`@0 Programme commande @5 10`
C03	`05`	`X`	`ENG`	`@0 Control program @5 10`
C03	`05`	`X`	`SPA`	`@0 Programa mando @5 10`
C03	`06`	`X`	`FRE`	`@0 Commande force @5 11`
C03	`06`	`X`	`ENG`	`@0 Force control @5 11`
C03	`06`	`X`	`SPA`	`@0 Control fuerza @5 11`
C03	`07`	`X`	`FRE`	`@0 Sensibilité tactile @5 18`
C03	`07`	`X`	`ENG`	`@0 Tactile sensitivity @5 18`
C03	`07`	`X`	`SPA`	`@0 Sensibilidad tactil @5 18`
C03	`08`	`X`	`FRE`	`@0 Main @5 19`
C03	`08`	`X`	`ENG`	`@0 Hand @5 19`
C03	`08`	`X`	`SPA`	`@0 Mano @5 19`
C03	`09`	`X`	`FRE`	`@0 Manipulateur @5 20`
C03	`09`	`X`	`ENG`	`@0 Manipulator @5 20`
C03	`09`	`X`	`SPA`	`@0 Manipulador @5 20`
C03	`10`	`X`	`FRE`	`@0 Visualisation @5 21`
C03	`10`	`X`	`ENG`	`@0 Visualization @5 21`
C03	`10`	`X`	`SPA`	`@0 Visualización @5 21`
C03	`11`	`X`	`FRE`	`@0 Compression donnée @5 22`
C03	`11`	`X`	`ENG`	`@0 Data compression @5 22`
C03	`11`	`X`	`SPA`	`@0 Compresión dato @5 22`
C03	`12`	`X`	`FRE`	`@0 Déminage @5 23`
C03	`12`	`X`	`ENG`	`@0 Demining @5 23`
C03	`12`	`X`	`SPA`	`@0 Limpieza mina @5 23`
N21				`@1 170`
N44	`01`			`@1 OTO`
N82				`@1 OTO`

Format Inist (serveur)

NO :	PASCAL 06-0270015 INIST
ET :	Disposal of explosive ordnances by use of a bimanual haptic telepresence system
AU :	KRON (Alexander); SCHMIDT (Günther); PETZOLD (Bernd); ZÄH (Michael I.); HINTERSEER (Peter); STEINBACH (Eckehard)
AF :	Institute of Automatic Control Engineering (LSR) Interactive Control Group Technische Universität München/Allemagne (1 aut., 2 aut.); Institute for Machine Tools and Industrial Management (iwb) Technische Universität München/Allemagne (3 aut., 4 aut.); Institute of Communication Networks (LKN) Media Technology Group Technische Universität München/Allemagne (5 aut., 6 aut.)
DT :	Congrès; Niveau analytique
SO :	IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 1968-1973; ISBN 0-7803-8232-3
LA :	Anglais
EA :	The paper outlines a novel approach for performing explosive ordnance disposal by use of a bimanual haptic telepresence system. This system enables an operator to perceive multimodal feedback from a remote environment for proper task execution. The developed experimental setup, comprising a bimanual human system interface and the corresponding bimanual teleoperator for use of both hands, is presented in detail. The teleoperation control architecture is discussed as well as a local model-based impedance control algorithm for manipulator control. Human-system performance is improved by means of stereo visualization of the tele-environment together with overlayed Augmented Reality assistance, and an algorithm for avoidance of dangerous manipulator configurations supported by augmented force feedback. Furthermore, a recently developed UDP communication library is presented for system interconnection taking into account compression of haptic data. Thus efficient and low delay of data transfer is ensured. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing a relevant task scenario, such as demining operations in a remote environment.
CC :	001D02D11
FD :	Téléopération; Rétroaction; Homme; Système commande adaptative modèle référence; Programme commande; Commande force; Sensibilité tactile; Main; Manipulateur; Visualisation; Compression donnée; Déminage
ED :	Remote operation; Feedback regulation; Human; Model reference adaptive control systems; Control program; Force control; Tactile sensitivity; Hand; Manipulator; Visualization; Data compression; Demining
SD :	Teleacción; Retroacción; Hombre; Programa mando; Control fuerza; Sensibilidad tactil; Mano; Manipulador; Visualización; Compresión dato; Limpieza mina
LO :	INIST-Y 38842.354000153471323180
ID :	06-0270015

Links to Exploration step

Pascal:06-0270015

Le document en format XML

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<front><div type="abstract" xml:lang="en">The paper outlines a novel approach for performing explosive ordnance disposal by use of a bimanual haptic telepresence system. This system enables an operator to perceive multimodal feedback from a remote environment for proper task execution. The developed experimental setup, comprising a bimanual human system interface and the corresponding bimanual teleoperator for use of both hands, is presented in detail. The teleoperation control architecture is discussed as well as a local model-based impedance control algorithm for manipulator control. Human-system performance is improved by means of stereo visualization of the tele-environment together with overlayed Augmented Reality assistance, and an algorithm for avoidance of dangerous manipulator configurations supported by augmented force feedback. Furthermore, a recently developed UDP communication library is presented for system interconnection taking into account compression of haptic data. Thus efficient and low delay of data transfer is ensured. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing a relevant task scenario, such as demining operations in a remote environment.</div>
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<fC01 i1="01" l="ENG"><s0>The paper outlines a novel approach for performing explosive ordnance disposal by use of a bimanual haptic telepresence system. This system enables an operator to perceive multimodal feedback from a remote environment for proper task execution. The developed experimental setup, comprising a bimanual human system interface and the corresponding bimanual teleoperator for use of both hands, is presented in detail. The teleoperation control architecture is discussed as well as a local model-based impedance control algorithm for manipulator control. Human-system performance is improved by means of stereo visualization of the tele-environment together with overlayed Augmented Reality assistance, and an algorithm for avoidance of dangerous manipulator configurations supported by augmented force feedback. Furthermore, a recently developed UDP communication library is presented for system interconnection taking into account compression of haptic data. Thus efficient and low delay of data transfer is ensured. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing a relevant task scenario, such as demining operations in a remote environment.</s0>
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<s5>07</s5>
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<s5>11</s5>
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<s5>18</s5>
</fC03>
<fC03 i1="07" i2="X" l="SPA"><s0>Sensibilidad tactil</s0>
<s5>18</s5>
</fC03>
<fC03 i1="08" i2="X" l="FRE"><s0>Main</s0>
<s5>19</s5>
</fC03>
<fC03 i1="08" i2="X" l="ENG"><s0>Hand</s0>
<s5>19</s5>
</fC03>
<fC03 i1="08" i2="X" l="SPA"><s0>Mano</s0>
<s5>19</s5>
</fC03>
<fC03 i1="09" i2="X" l="FRE"><s0>Manipulateur</s0>
<s5>20</s5>
</fC03>
<fC03 i1="09" i2="X" l="ENG"><s0>Manipulator</s0>
<s5>20</s5>
</fC03>
<fC03 i1="09" i2="X" l="SPA"><s0>Manipulador</s0>
<s5>20</s5>
</fC03>
<fC03 i1="10" i2="X" l="FRE"><s0>Visualisation</s0>
<s5>21</s5>
</fC03>
<fC03 i1="10" i2="X" l="ENG"><s0>Visualization</s0>
<s5>21</s5>
</fC03>
<fC03 i1="10" i2="X" l="SPA"><s0>Visualización</s0>
<s5>21</s5>
</fC03>
<fC03 i1="11" i2="X" l="FRE"><s0>Compression donnée</s0>
<s5>22</s5>
</fC03>
<fC03 i1="11" i2="X" l="ENG"><s0>Data compression</s0>
<s5>22</s5>
</fC03>
<fC03 i1="11" i2="X" l="SPA"><s0>Compresión dato</s0>
<s5>22</s5>
</fC03>
<fC03 i1="12" i2="X" l="FRE"><s0>Déminage</s0>
<s5>23</s5>
</fC03>
<fC03 i1="12" i2="X" l="ENG"><s0>Demining</s0>
<s5>23</s5>
</fC03>
<fC03 i1="12" i2="X" l="SPA"><s0>Limpieza mina</s0>
<s5>23</s5>
</fC03>
<fN21><s1>170</s1>
</fN21>
<fN44 i1="01"><s1>OTO</s1>
</fN44>
<fN82><s1>OTO</s1>
</fN82>
</pA>
</standard>
<server><NO>PASCAL 06-0270015 INIST</NO>
<ET>Disposal of explosive ordnances by use of a bimanual haptic telepresence system</ET>
<AU>KRON (Alexander); SCHMIDT (Günther); PETZOLD (Bernd); ZÄH (Michael I.); HINTERSEER (Peter); STEINBACH (Eckehard)</AU>
<AF>Institute of Automatic Control Engineering (LSR) Interactive Control Group Technische Universität München/Allemagne (1 aut., 2 aut.); Institute for Machine Tools and Industrial Management (iwb) Technische Universität München/Allemagne (3 aut., 4 aut.); Institute of Communication Networks (LKN) Media Technology Group Technische Universität München/Allemagne (5 aut., 6 aut.)</AF>
<DT>Congrès; Niveau analytique</DT>
<SO>IEEE International Conference on Robotics and Automation/21/2004/New Orleans LA USA; Etats-Unis; Piscataway NJ: IEEE; Da. 2004; Pp. 1968-1973; ISBN 0-7803-8232-3</SO>
<LA>Anglais</LA>
<EA>The paper outlines a novel approach for performing explosive ordnance disposal by use of a bimanual haptic telepresence system. This system enables an operator to perceive multimodal feedback from a remote environment for proper task execution. The developed experimental setup, comprising a bimanual human system interface and the corresponding bimanual teleoperator for use of both hands, is presented in detail. The teleoperation control architecture is discussed as well as a local model-based impedance control algorithm for manipulator control. Human-system performance is improved by means of stereo visualization of the tele-environment together with overlayed Augmented Reality assistance, and an algorithm for avoidance of dangerous manipulator configurations supported by augmented force feedback. Furthermore, a recently developed UDP communication library is presented for system interconnection taking into account compression of haptic data. Thus efficient and low delay of data transfer is ensured. The usability and effectiveness of the developed bimanual telepresence system are demonstrated by focusing a relevant task scenario, such as demining operations in a remote environment.</EA>
<CC>001D02D11</CC>
<FD>Téléopération; Rétroaction; Homme; Système commande adaptative modèle référence; Programme commande; Commande force; Sensibilité tactile; Main; Manipulateur; Visualisation; Compression donnée; Déminage</FD>
<ED>Remote operation; Feedback regulation; Human; Model reference adaptive control systems; Control program; Force control; Tactile sensitivity; Hand; Manipulator; Visualization; Data compression; Demining</ED>
<SD>Teleacción; Retroacción; Hombre; Programa mando; Control fuerza; Sensibilidad tactil; Mano; Manipulador; Visualización; Compresión dato; Limpieza mina</SD>
<LO>INIST-Y 38842.354000153471323180</LO>
<ID>06-0270015</ID>
</server>
</inist>
</record>

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	Serveur d'exploration sur les dispositifs haptiques
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Disposal of explosive ordnances by use of a bimanual haptic telepresence system

Disposal of explosive ordnances by use of a bimanual haptic telepresence system

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