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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
Abstract
''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/ | ||||||||
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| Document Type: | Thesis (Dissertation) | ||||||||
| Title: | Shared Grasping: a Combination of Telepresence and Grasp Planning | ||||||||
| Authors: |
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| Date: | 29 April 2016 | ||||||||
| Refereed publication: | Yes | ||||||||
| Open Access: | No | ||||||||
| Number of Pages: | 227 | ||||||||
| Status: | Published | ||||||||
| 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, Dr. Thomas | ||||||||
| Deposited On: | 19 May 2017 14:51 | ||||||||
| Last Modified: | 19 May 2017 14:51 |
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