Telerobotics tasks execution based on 3D geometric modelling and graphical programming

Describes a telerobot control principle based on a close cooperation between the man and the machine. The main feature is the management of a 3D geometrical model of the environment through successive modelling-programming-execution sequences. The principle was applied to the control of a quadrumane climbing robot. During this experimental validation phase, the authors used the interactive 3D modelling system Pyramide to acquire the 3D environment model, to program actions, and to monitor the robot motions. The authors give details of the experiments realized