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40

ISER
2004
Springer

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Robust Haptic Teleoperation of a Mobile Manipulation Platform

14 years 4 months ago

Robust Haptic Teleoperation of a Mobile Manipulation Platform

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This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics of the mobile manipulator. This scheme is robust in the presence of time delays and disturbances and provides good tele-presence. The slave manipulator is mounted on a mobile base and controlled within the operational space framework. In this framework, the redundancy of the mobile manipulation system is addressed through a decoupled decomposition of task and posture dynamics.

Jaeheung Park, Oussama Khatib

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ISER 2004 | Mobile Manipulation | Mobile Manipulation Systems | Mobile Manipulator | Robotics |

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Added	02 Jul 2010
Updated	02 Jul 2010
Type	Conference
Year	2004
Where	ISER
Authors	Jaeheung Park, Oussama Khatib

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