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Shared Grasping: a Combination of Telepresence and Grasp Planning

Hertkorn, Katharina (2016) Shared Grasping: a Combination of Telepresence and Grasp Planning. Dissertation, Karlsruher Instituts für Technologie (KIT).

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Official URL: https://publikationen.bibliothek.kit.edu/1000047718


''Shared Grasping'' describes a new approach to shared autonomy for grasping and manipulation tasks to be used in a telepresence system. It is realized with two assistance functionalities, which simplify the grasping, and a user interface, which merges haptic feedback and visual assistance. User studies confirm a reduction in operator workload and an increase in task performance while maintaining a high immersion of the operator into the remote environment when using the assistance functions.

Item URL in elib:https://elib.dlr.de/111647/
Document Type:Thesis (Dissertation)
Title:Shared Grasping: a Combination of Telepresence and Grasp Planning
AuthorsInstitution or Email of AuthorsAuthor's ORCID iD
Hertkorn, Katharinakatharina.hertkorn (at) dlr.deUNSPECIFIED
Date:29 April 2016
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Number of Pages:227
Keywords:Robotik, Teleoperation, Teilautonomie, Greifplanung, Manipulation Robotics, Teleoperation, Shared Autonomy, Grasp Planning, Manipulation
Institution:Karlsruher Instituts für Technologie (KIT)
Department:Institut für Anthropomatik (IFA)
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Hulin, Thomas
Deposited On:19 May 2017 14:51
Last Modified:19 May 2017 14:51

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