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The Virtual Tool Approach to Dextrous Telemanipulation |
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@InProceedings{Fuentes:97,
author = {Olac Fuentes and Randal C. Nelson},
title = {The Virtual Tool Approach to Dextrous Telemanipulation},
booktitle = {Proc. International Conference },
year = {1996},
address = {Minneapolis, MN},
month = {April }
abstract = {We propose a behavioral construct called a ``vir
tual tool'' that allows many of the advantages of high
degreeoffreedom robotic systems to be realized with
out excessive computational costs or modeling require
ments. The basic idea of a virtual tool is drawn from
the observation that the most efficient way of perform
ing a task is generally to use a device that is specially
designed for it; this suggests that a way to use redun
dant degrees of freedom in a system is to use them
to customize it so that it becomes, in essence, a spe
cial purpose tool for the task at hand. We call the
resulting instantiation a virtual tool. Formally, this
tailoring takes the form of implementing constraints
on the degrees of freedom of the system through lower
level control processes. Remaining degrees of freedom
appear as control parameters of the virtual tool, and
can be used by higherlevel processes, or by a human
teleoperator, to control the system.
We present experimental results showing the appli
cation of the virtual tool approach to telemanipulation
using a 22 degreeoffreedom handarm system. Our
chosen task is a fairly complex assembly task requir
ing the robot to pick up a small object, transport it,
and insert it into a hole with matching shape. Instead
of attempting to map the configuration of the teleop
erator's handarm system to the robot using a data
glove or similar device, we provide basic parameterized
grasping and manipulation primitives (or virtual tools)
that can be invoked by the teleoperator as he progresses
through the stages of the complex task.}
}