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- W2529547356 abstract "Teleoperated robots are used in scenarios that require a human operator due to complex unstructured environments and risks associated with mistakes. This work focuses on telepresent manipulation where the human operator is immersed in the environment of an explosive ordnance disposal robot equipped with an anthropomorphic bimanual manipulator of many degrees of freedom. Using an approach that extends the application of null space optimization to a manipulator with bifurcating kinematic structure, redundancy is exploited to allow the user easier, more natural control while the system improves robot pose with respect to task-centric cost functions. Early results reveal that actively optimizing a cost function for managing joint ranges of motion effectively permits exploitation of redundancy without requiring additional user input during teleoperation. Additional cost functions motivated by this result are presented to further improve bimanual telepresent manipulation." @default.
- W2529547356 created "2016-10-14" @default.
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- W2529547356 date "2016-07-01" @default.
- W2529547356 modified "2023-09-22" @default.
- W2529547356 title "Exploiting redundancy to improve bimanual telepresent manipulation" @default.
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- W2529547356 doi "https://doi.org/10.1109/wac.2016.7583020" @default.
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