Article

Telepresence control of the NASA/DARPA robonaut on a mobility platform

Authors:

S. M. Goza,

R. O. Ambrose,

M. A. Diftler,

I. M. SpainAuthors Info & Claims

CHI '04: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems

Pages 623 - 629

https://doi.org/10.1145/985692.985771

Published: 25 April 2004 Publication History

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Abstract

Engineers at the Johnson Space Center recently combined the upper body of the National Aeronautics and Space Administration (NASA) / Defense Advanced Research Projects Agency (DARPA) Robonaut system with a Robotic Mobility Platform (RMP) to make an extremely mobile humanoid robot designed to interact with human teammates. Virtual Reality gear that immerses a human operator into Robonaut's working environment provides the primary control pathway for remote operations. Human/robot interface challenges are addressed in the control system for teleoperators, console operators and humans working directly with the Robonaut. Multiple control modes are available for controlling the five fingered dexterous robot hands and operator selectable depending on the type of grasp required. A relative positioning system is used to maximize operator comfort during arm and head motions. Foot pedals control the mobility base. Initial tasks that include working with human rated tools, navigating hallways and cutting wires are presented and show the effectiveness of telepresence control for this class of robot.

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Information

Published In

CHI '04: Proceedings of the SIGCHI Conference on Human Factors in Computing Systems

April 2004

742 pages

ISBN:1581137028

DOI:10.1145/985692

Conference Chairs:
Elizabeth Dykstra-Erickson
Kinoma
,
Manfred Tscheligi
CURE, Austria

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

New York, NY, United States

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Published: 25 April 2004

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CHI04: CHI 2004 Conference on Human Factors in Computing Systems

April 24 - 29, 2004

Vienna, Austria

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Overall Acceptance Rate 6,199 of 26,314 submissions, 24%

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https://dl.acm.org/doi/10.1145/3610978.3640727
Liu SYuan XFeng WRen AHu ZMing ZZahid AAbbasi QWang S(2023)A Novel Heteromorphic Ensemble Algorithm for Hand Pose RecognitionSymmetry10.3390/sym1503076915:3(769)Online publication date: 21-Mar-2023
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Vijay HPushp SMittal AGupta PGupta MGambhira SChopra SBaranwal MArya AManchepalli APadmanabhan V(2023)HyWayProceedings of the ACM on Interactive, Mobile, Wearable and Ubiquitous Technologies10.1145/35962357:2(1-33)Online publication date: 12-Jun-2023
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