Haptic feedback applications for robonaut

TitleHaptic feedback applications for robonaut
Publication TypeJournal Article
Year of Publication2003
AuthorsO'Malley, MK, Ambrose, RO
JournalIndustrial Robot
Volume30
Issue6
Pagination531 - 542
KeywordsComputer control systems; Feedback control; Haptic interfaces; Robotics; Space applications; Telecontrol equipment
Abstract

Robonaut is a humanoid robot designed by the Robotic Systems Technology Branch at NASA's Johnson Space Center in a collaborative effort with Defense Advanced Research Projects Agency. This paper describes the implementation of haptic feedback into Robonaut and Robosim, the computer simulation of Robotonaut. In the first experiment, we measured the effects of varying feedback to a teleoperator during a handrail grasp task. Second, we conducted a teleoperated task, inserting a flexible beam into an instrumented receptable. In the third experiment, we used Robonaut to perform a two-arm task where a compliant ball was translated in the robot's workspace. The experimental results are encouraging as the Dexterous Robotics Lab continues to implement force feedback into its teleoperator hardware architecture.

URLhttp://dx.doi.org/10.1108/01439910310506800
Citation Key03507772035
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