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Telepresence & VR

How to repair satellites, deep sea mining sites or nuclear plants without endangering humans? By using remotely commanded robots, or telerobotic technology. A human operator can command such a robotic system while being in a safe and comfortable place. Robots can be built to be more robust to hazardous environments making it

  • less risky for the expert,
  • cheaper to get on site in most cases, and
  • even more reliable and more precise.

One particularity of our approach is haptic feedback, which lets the human operator precisely feel and control the interaction forces between remote robot and the environment leading to a natural manipulation. This feedback enables to cover a wide range of manipulation tasks, from powerfully switching levers to precisely turning screws, or even handling fragile electronics parts. We started with On-Orbit Servicing as target application, but the developed technology can and is also be applied to various terrestrial applications, such as maintaining industrial plants, oil platforms or minimally invasive robotic surgery.

Telepresence Methods, Algorithms and Approaches
Telemanipulation

Telemanipulation


  • Telemanipulation of humanoid robot Justin
  • Telemanipulation of mobile robots
  • Telemanipulation with varying time delay and packet loss
  • Multilateral control
Read more
Stable Haptic Control

Stable Haptic Interaction and Control


  • Stability analysis for haptic interaction
  • Optimal control
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Shared Autonomy

Shared Autonomy


  • Facilitate grasping for the user by calculating the finger positions autonomously based on reachable independent contact regions
  • Combining scene analysis and online grasp planning for multifingered hands
  • Provide visual assistance to the user
Read more
Haptic Rendering: Collision Detection and Response

Haptic Rendering: Collision Detection and Response


  • Collision computation between complex objects within 1 ms using voxel and point-based data structures
  • Applications in assembly simulation for virtual prototyping and training
Read more
ROMO

ROMO


  • Teleoperation of the ROMO
  • Autonomous subtasks like track keeping and stabilization
Read more
MIRO

Human Factors


  • Definition of user requirements
  • Empirical evaluation of human-machine-interfaces (HMIs)
Read more
Training of Astronauts

Multimodal Training of Mechanics and Astronauts


  • Haptic and visual feedback for improving training efficiency
  • Evaluation studies
Read more
Robot Viewer

Interactive Robot Viewer


  • Intuitive augmentation of robot data
  • Suited for torque-controlled robots
  • Interactive visual features
Read more
Links
Scene Analysis
Systems
SpaceJustin
HUG - DLR's bimanual haptic device
VibroTac - Vibrotactile Feedback Device
Joystick RJo
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