Flexible multimodal telepresent assembly using a generic interconnection framework

Author

Preusche, Carsten ; Hoogen, Jens ; Reintsema, Detlef ; Schmidt, Gunther ; Hirzinger, Gerd

Author_Institution

Inst. of Robotics & Mechatronics, German Aerosp. Center (DLR), Wessling, Germany

Volume

4

fYear

2002

fDate

2002

Firstpage

3712

Abstract

A multimodal Internet-based telepresence system with interactive stereo vision, additional photo-realistic predictive display, and kinesthetic bilateral coupling in three degrees of freedom is presented. For easy coupling of various telepresence components by a unified interface structure and a generic link management protocol a CORBA based interconnection framework has been developed. By solving a peg-in-hole task in an industrial environment and with varying communication delay times, the system provides all capabilities for multimodal telepresent remote maintenance and assembly.

Keywords

Internet; assembling; distributed object management; haptic interfaces; industrial manipulators; stereo image processing; telerobotics; virtual reality; CORBA based interconnection framework; flexible multimodal telepresent assembly; generic interconnection framework; generic link management protocol; industrial environment; interactive stereo vision; kinesthetic bilateral coupling; multimodal Internet-based telepresence system; peg-in-hole task; photorealistic predictive display; remote maintenance; Assembly systems; Feedback; Haptic interfaces; Humans; Internet; Protocols; Robot vision systems; Robotic assembly; Stereo vision; Teleoperators;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1014286

Filename

1014286