Now showing items 1-20 of 29

    • Adaptive impedance control for bilateral teleoperation of long reach flexible manipulators 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyPublished for the International Federation of Automatic Control by Elsevier, 1996-07)
      Current applications in the field of telerobotics, such as space based assembly and nuclear waste remediation, require the use of long reach manipulators. These robots are characterized by their large workspace and reduced ...
    • Command filtering and path planning for remote manipulation of a long reach flexible robot 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-04)
      We focus on the fusion of autonomous and teleoperated commands. This combination provides full use of the robot's workspace without requiring large motion amplification between a master and slave robot. Combining autonomous ...
    • A comparison of joint control algorithms for teleoperated pick and place tasks using a flexible manipulator 

      Love, Lonnie J.; Magee, David P.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1994-10)
      This paper presents initial results of an on going study of robot control algorithms used for teleoperation of long reach manipulators. The focus of the paper is the effect of the slave robot control algorithm on the ...
    • Constructing a high-performance robot from commercially available parts 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of Technology, 2009-12)
      Robot manipulators were the topic of this article. A large number of robot manipulators have been designed over the last half century, and several of these have become standard platforms for R&D efforts. The most widely ...
    • Contact Stability Analysis of Virtual Walls 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1995-11)
      Haptic interfaces are mechanical systems coupled to humans. These devices provide a method of relaying mechanical information between a human and a computer generated environment. A basic element in any virtual environment ...
    • Control Techniques and Programming Issues for Time Delayed Internet Based Teleoperation 

      Munir, Saghir; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2003-06)
      This article focuses on Internet-based real time control, such as remote bilateral teleoperation. In such applications it is required that the control loop be closed around a time delayed network. Although various researchers ...
    • Controlling a Passive Haptic Master During Bilateral Teleoperation 

      Black, Benjamin Andrew (Georgia Institute of Technology, 2007-08-27)
      Haptic devices allow a human to interact physically with a remote or virtual environment by providing tactile feedback to the user. In general haptic devices can be classified in two groups according to the energetic nature ...
    • Design and Control of a Multiple Degree of Freedom Haptic Interface 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1994-11)
      The role of robotics in society is no longer restricted to assembly and manufacturing. Robots are finding their way into a wide spectrum of tasks that directly link human and machine. Haptic interfaces are robots that are ...
    • Dissipativity-Based Teleoperation with Time-Varying Communication Delays 

      Varnell, Paul; Zhang, Fumin (Georgia Institute of TechnologyInternational Federation of Automatic Control (IFAC), 2013-09)
      We analyze the effects of communication delays in teleoperation systems using dissipativity theory along with explicit models of the operator and robot. We utilize a simple model of the operator's behavior that describes ...
    • Dusty: A Teleoperated Assistive Mobile Manipulator that Retrieves Objects from the Floor 

      Fan, Zhengqin; King, Chih-Hung; Darb, Hamza; Kemp, Charles C. (Georgia Institute of Technology, 2010-06)
      Retrieval of dropped objects has consistently been ranked as a high priority task for assistive robots. We have previously presented a dustpan-inspired end effector capable of robustly grasping objects from the floor. In ...
    • Dynamics and control of mobile cranes 

      Vaughan, Joshua Eric (Georgia Institute of Technology, 2008-07-08)
      The rapid movement of machines is a challenging control problem because it often results in high levels of vibration. As a result, flexible machines are typically moved relatively slowly to avoid such vibration. Therefore, ...
    • Effects of Force Feedback and Arm Compliance on Teleoperation for a Hygiene Task, 

      King, Chih-Hung; Killpack, Marc D.; Kemp, Charles C. (Georgia Institute of TechnologySpringer Berlin / Heidelberg, 2010-07)
      Teleoperated assistive robots with compliant arms may be well-suited to tasks that require contact with people and operation within human environments. However, little is known about the effects of force feedback and ...
    • Force reflecting teleoperation with adaptive impedance control 

      Love, Lonnie J.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2004-02)
      Experimentation and a survey of the literature clearly show that contact stability in a force reflecting teleoperation system requires high levels of damping on the master robot. However, excessive damping increases the ...
    • Haptically Guided Teleoperation for Learning Manipulation Tasks 

      Howard, Ayanna M.; Park, Chung Hyuk (Georgia Institute of Technology, 2007-06)
      In this paper, we present a methodology that uses control signals provided through guided teleoperation to assist in the learning of new manipulation tasks. The approach incorporates haptic feedback that guides human ...
    • Humanoid Robot Teleoperation for Tasks with Power Tools 

      O’Flaherty, Rowland; Vieira, Peter; Grey, M. X.; Oh, Paul; Bobick, Aaron; Egerstedt, Magnus B.; Stilman, Mike (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2013-04)
      This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires ...
    • In situ interactive teaching of trustworthy robotic assistants 

      Remy, Sekou; Howard, Ayanna M. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2007-10)
      In this paper we discuss a method for transferring human knowledge to a robotic platform via teleoperation. The method combines unsupervised clustering and classification with interactive instruction to enable behavior ...
    • Master-Slave Manipulator Performance for Various Dynamic Characteristics and Positioning Task Parameters 

      Book, Wayne John; Hannema, Dirk (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1980-11)
      The performance of manually operated remote manipulators is limited by friction, tolerance of mating parts, limited speed of response, and other unavoidable factors which affect dynamic behavior. A review of the literature ...
    • A minimum jerk predictor for teleoperation with variable time delay 

      Smith, Christian; Christensen, Henrik I. (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)
      In this paper we describe a method for bridging internet time delays in a teleoperation scenario. In the scenario, the sizes of the time delays is not only stochastic, but it is also large compared to the task execution ...
    • Modeling and Simulation of a Pneumatically-Actuated Rescue Robot 

      Daepp, Hannes G.; Book, Wayne John (Georgia Institute of Technology, 2011-03)
      A four-legged pneumatically actuated search and rescue robot is presented as a system with potentially enhanced versatility relative to existing rescue robots. The usage of fluid powered actuation, combined with tele-operation ...
    • A Novel Teleoperated Long-Reach Manipulator Testbed and its Remote Capabilities via the Internet 

      Lane, Hobson; Love, Lonnie J.; Magee, David P.; Obergfell, Klaus; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1996-06)
      During the 1995 DOE Robotics Forum at Albuquerque, New Mexico, Georgia Tech's Intelligent Machine Dynamics Laboratory demonstrated remote display capabilities of its telemanipulated long-reach manipulator testbed through ...