Work in progress on the new anthropomorphic telerobot is described. The initial robot configuration consists of a seven DOF arm and a sixteen DOF hand, having three fingers and a thumb. The robot has active compliance, enabling subsequent dual arm manipulations. To control the rather complex configuration of this robot, an exoskeleton master arm harness and a glove controller were built. The controller will be used for teleoperational tasks and as a research tool to efficiently teach the computer controller advanced manipulation techniques.


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    Title :

    Jau-JPL Anthropomorphic Telerobot


    Contributors:
    B. M. Jau (author)

    Publication date :

    1989


    Size :

    6 pages


    Type of media :

    Report


    Type of material :

    No indication


    Language :

    English




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