Tele-assembly in Wide Remote Environments

The video shows a telepresence system which allows to perfom an assembly task in an extensive remote environment. It comprises a telemanipulator with two anthropomorphic 7-DOF arms controlled by a hyper-redundant 10-DOF haptic display. Dexterous manipulation capabilities are achieved by employing 3-finger grippers at the teleoperator site and data gloves at the operator site. Mounting the telemanipulator on an omnidirectional mobile platform additionally enables the teleoperator to freely move around in the remote environment. Thereby the locomotion is controlled via a specifically designed 3-DOF pedal. The video shows an assembly experiment with toy bricks which involves locomotion, navigation and dextrous manipulation tasks.