{"title":"多感官遥控机器人概念","authors":"G. Hirzinger, J. Dietrich, B. Brunner","doi":"10.1109/IMC.1990.687273","DOIUrl":null,"url":null,"abstract":"The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, tdeoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, 1,actile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and \"machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based pat11 refinement on board, while realtime fusion . of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new in1 elligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.","PeriodicalId":254801,"journal":{"name":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","volume":"73 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1990-08-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Multisensory Telerobotic Concepts\",\"authors\":\"G. Hirzinger, J. Dietrich, B. Brunner\",\"doi\":\"10.1109/IMC.1990.687273\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, tdeoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, 1,actile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and \\\"machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based pat11 refinement on board, while realtime fusion . of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new in1 elligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.\",\"PeriodicalId\":254801,\"journal\":{\"name\":\"Proceedings of the IEEE International Workshop on Intelligent Motion Control\",\"volume\":\"73 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1990-08-20\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the IEEE International Workshop on Intelligent Motion Control\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/IMC.1990.687273\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the IEEE International Workshop on Intelligent Motion Control","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IMC.1990.687273","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
The telerobotic concepts as presently developed for a space robot technology experiment ROTEX to fly with the next spacelab mission D2 in 1992 are outlined; the robot is supposed to work in an autonomous mode, tdeoperated by astronauts, and teleoperated from ground. One of its key features is a recently developed multisensory gripper with highly integrated, miniaturized sensor technology including stiff and compliant six-axis force-torque-sensing, 9 laser range finders, 1,actile arrays, grasp force control using a new electrical gripper drive and a stereo camera pair. Sensory feedback schemes and "machine interface concepts using a 6 dof control ball and stereo imaging is explained. Sensory simulation on ground using advanced stereo graphics is supposed to predict the sensor based pat11 refinement on board, while realtime fusion . of stereo images and laserscan information helps to predict the motion of floating objects to be grasped. Finally a light-weight robot concept with new in1 elligent joint drives and grip-structure composite arms for the astronaut training onground is discussed.
求助内容：
应助结果提醒方式：
京公网安备 11010802042870号
