Manipulating flexible parts using a teleoperated system with time delay: An experiment

This paper reports experiments involving the handling of flexible parts (e.g. wires) when using a teleoperated system with time delay. The task is principally a peg-in-hole task involving the wrapping of a wire around two posts on the task-board. It is difficult to estimate the effects of the flexible parts; therefore, on-line teleoperation is indispensable for this class of unpredictable task. We first propose a teleoperation system based on the predictive image display, then describe an experimental teleoperation testbed with a four second transmission time delay. Finally, we report on wire handling operations that were performed to evaluate the performance of this system. Those experiments will contribute to future advanced experiments for the MITI ETS-7 mission

Detection of Discrepancies and Sensory-Based Recovery for Virtual Reality Based Telemanipulation Systems

Teleoperators using an intermediate functional representation of the remote real environment (RE), suffer a lack of its accurate synthetic modeling. Indeed, discrepancies will always occur between the RE and, let's say, its artificial representation by means of virtual environment (VE). A strategy to deal with VE/RE uncertainties based mainly on sensory level interpretation is presented. It is directed to avoid use of task knowledge by providing a stream of virtual sensors values. Within the remote site, a supervisor is in charge of recovering from the VE/RE discrepancies by a continuous simulated and real states comparison. The states are derived respectively from simulated and real sensors interpretation. A simple experiment with the proposed approach is presented using only position (velocity) and force sensors. Limitations of the proposed approach are also discussed. 1 Introduction For various applications, many advanced teleoperators use an intermediate functional representation..

Multi-Robots Teleoperation - Analysis and Prognosis

This paper presents a synthesis of a collaborative work between the MEL and the LRP in the frame of long distance multi-robots teleoperation using an intermediate functional representation of the real remote world by means of virtual reality. We discuss results of the first experiment and its extension for controlling in parallel 4 robots without video feedback and the results of the second experiment performed controlling 2 remote robots in parallel adding some features to improve the precedent one. We used direct human hand actions, within an intermediate functional representation (IFR) of the remote environment (RE) by means of virtual environment (VE) as a guide for task execution and teleoperation. The paper ends with future teleoperator perspectives such as using two hands for cooperative teleoperation and concurrent IFRs using multiple masters and robots. 1 Introduction There is a clear growing need to perform work remotly with a more friendly-use teleoperators. When reviewing..

Parallel Multi-Robots Long Distance Teleoperation

On October 10th 1996 and for the first time in teleoperation history, four robots of different kinematics and situated in different locations (respectively Poitiers, Grenoble and Nantes in France and Tsukuba in Japan) were teleoperated simultaneously (in parallel). The experiment was the first general one of a research cooperation programme named TWE (Telepresence World Experiment) linking seven research teams belonging to five countries. The task consisted in assembling a four pieces puzzle. All the robots had to perform the same task at the same time. In this paper, we discuss the preliminary results of this first trial experiment and problems encountered in achieving the matter. The master consists of a high-level abstraction interface based on virtual reality concepts. The operator performed the task within a simulated environment. Based on direct hand use, the operator assembled the puzzle in a natural manner. Bilateral transformations, from the operator to robot control and backw..