Lii, Neal Y. und Chen, Zhaopeng und Pleintinger, benedikt und Borst, Christoph H. und hirzinger, Gerd und Schiele, Andre (2010) Toward understanding the effects of visual- and force- feedback on robotic hand grasping performance for space teleoperation. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010-10-18 - 2010-10-22, Taipei, Taiwan.
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Kurzfassung
This paper introduces a study aimed to help quantify the benefits of limited-performance force-feedback user input devices for space telemanipulation with a dexterous robotic arm. A teleoperated robotic hand has been developed for the European Space Agency by the German Aerospace Center (DLR) for a lunar rover prototype. Studies carried out on this telerobotic system investigated several criteria critical to telemanipulation in space: 1) grasping task completion time, 2) grasping task difficulty, 3) grasp quality, and 4) difficulty level for the operator to assess the grasp quality. Several test subjects were allocated to remotely grasp regular and irregular shaped objects, under different combinations of visual- and forcefeedback conditions. This work categorized the benefits of visual- and force-feedback in teleoperated grasping through several performance metrics. Furthermore, it has been shown that, with local joint-level impedance control, good grasping performance with rigid hard objects can be achieved, even with limited force-feedback information and low communication bandwidth. On the other hand, a performance ceiling was also found when grasping deformable objects, where the limited force-feedback setup cannot sufficiently reflect the object boundary to the teleoperator.
elib-URL des Eintrags: | https://elib.dlr.de/80501/ | ||||||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Paper) | ||||||||||||||||||||||||||||
Titel: | Toward understanding the effects of visual- and force- feedback on robotic hand grasping performance for space teleoperation | ||||||||||||||||||||||||||||
Autoren: |
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Datum: | Oktober 2010 | ||||||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||||||
Seitenbereich: | Seiten 3745-3752 | ||||||||||||||||||||||||||||
Status: | akzeptierter Beitrag | ||||||||||||||||||||||||||||
Stichwörter: | Space teleoperation, Robot hand grasp performance, force-feedback, visual feedback | ||||||||||||||||||||||||||||
Veranstaltungstitel: | 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) | ||||||||||||||||||||||||||||
Veranstaltungsort: | Taipei, Taiwan | ||||||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||||||
Veranstaltungsbeginn: | 18 Oktober 2010 | ||||||||||||||||||||||||||||
Veranstaltungsende: | 22 Oktober 2010 | ||||||||||||||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||||||||||||||
HGF - Programmthema: | Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||||||||||||||
DLR - Forschungsgebiet: | R SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - RMC - Mechatronik und Telerobotik (alt) | ||||||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||||||||||||||
Hinterlegt von: | Lii, Neal Yi-Sheng | ||||||||||||||||||||||||||||
Hinterlegt am: | 11 Jan 2013 14:30 | ||||||||||||||||||||||||||||
Letzte Änderung: | 24 Apr 2024 19:47 |
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