Abstract
To conduct tasks that need high dexterity by teleoperation, a unified hand/arm master-slave system was developed. To measure the dexterity of individual teleoperation systems all over the world in equal condition, we propose toy block assembling (LEGO™) as the benchmark test for teleoperation systems. Meanwhile, a bilateral teleoperation experiment with ETS-VII (Engineering Test Satellite No.7) was conducted on November 22, 1999. Round-trip time for communication between the NASDA ground station and ETS-VII was approximately six seconds. These two results are the first step to improve the dexterity of teleoperation systems and to investigate the relationship between time delay and dexterity.
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© 2001 Springer-Verlag Berlin Heidelberg
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Yokokohji, Y., Imaida, T., Iida, Y., Doi, T., Oda, M., Yoshikawa, T. (2001). Bilateral Teleoperation: Towards Fine Manipulation with Large Time Delay. In: Rus, D., Singh, S. (eds) Experimental Robotics VII. Lecture Notes in Control and Information Sciences, vol 271. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-45118-8_2
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DOI: https://doi.org/10.1007/3-540-45118-8_2
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