Title :
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
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;
Conference_Titel :
Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on
Print_ISBN :
0-7803-7272-7
DOI :
10.1109/ROBOT.2002.1014286
