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dc.contributor.authorEvrard P
dc.contributor.authorMansard N
dc.contributor.authorStasse O
dc.contributor.authorKheddar A
dc.contributor.authorSchauß T
dc.contributor.authorWeber C
dc.contributor.authorPeer A
dc.contributor.authorBuss M
dc.contributor.editor
dc.date.accessioned2019-02-14T17:07:04Z
dc.date.available2019-02-14T17:07:04Z
dc.date.issued2009
dc.identifier.isbn978-1-4244-3803-7
dc.identifier.urihttp://dx.doi.org/10.1109/IROS.2009.5354412
dc.identifier.urihttps://ieeexplore.ieee.org/abstract/document/5354412
dc.identifier.urihttp://hdl.handle.net/10863/8264
dc.description.abstractThis paper is the continuation of our previous work in intercontinental, collaborative teleoperation with a humanoid robot. Our new achievement consists in an extension of the former single-arm bilateral teleoperation setting to include bimanual manipulation and walking. A coupling scheme for simultaneous manipulation and locomotion is developed. Furthermore, a task-based control framework, including a force-based control for the arms as well as a walking pattern generation, is presented to realize stable whole-body motions of the highly redundant humanoid robot. Experiments have been performed to assess the proposed control scheme. They bring to light additional scientific challenges that remain in order to reach a smooth and natural telepresent collaboration.en_US
dc.languageEnglish
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation2009 IEEE/RSJ International Conference on Intelligent Robots and Systems ; St. Louis : 10.10.2009 - 15.10.2009
dc.rights
dc.titleIntercontinental, Multimodal, Wide-Range Tele-Cooperation Using a Humanoid Roboten_US
dc.typeBook chapteren_US
dc.date.updated2019-02-12T09:15:22Z
dc.publication.title2009 IEEE/RSJ International Conference on Intelligent Robots and Systems
dc.language.isiEN-GB
dc.description.fulltextopenen_US


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