TY - JOUR T1 - Haptic feedback applications for robonaut JF - Industrial Robot Y1 - 2003 A1 - O'Malley, M.K. A1 - Robert O. Ambrose KW - Computer control systems KW - Feedback control KW - Haptic interfaces KW - Robotics KW - Space applications KW - Telecontrol equipment AB -

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.

VL - 30 UR - http://dx.doi.org/10.1108/01439910310506800 N1 - Haptic feedback;Humanoid robot;Teleoperator; ER -