@inproceedings{4ca975680e2549bab67f206b4bed64a6,
title = "Haptic telemanipulation with dissimilar kinematics",
abstract = "This work addresses some practical issues regarding development of a telerobotic system for 6 degrees of freedom (DoF) tasks. The system consists of a hyper redundant haptic input device ViSHaRD10, a redundant 7DoF manipulator and a stereo vision system. The redundancy of the devices is exploited to assure large convex workspace and singularity-free operation. The anthropomorphic construction of the telemanipulator enables intuitive manipulation and increases the {"}user-friendliness {"} of the overall system. As a practical benchmark an assembly experiment in 6DoF for a case of a negligible time delay was successfully performed. Issues regarding inverse kinematics, spatial interaction control, transparency, and intuitiveness of teleoperation are discussed.",
keywords = "Compliant control, Haptic exploration, Redundancy, Teleoperation",
author = "Angelika Peer and Bartlomiej Stanczyk and Martin Buss",
year = "2005",
doi = "10.1109/IROS.2005.1545349",
language = "English",
isbn = "0780389123",
series = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
publisher = "IEEE Computer Society",
pages = "3493--3498",
booktitle = "2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS",
}