Corpus ID: 31728559

Remotely Teleoperating a Humanoid Robot to Perform Fine Motor Tasks with Virtual Reality – 18446

  title={Remotely Teleoperating a Humanoid Robot to Perform Fine Motor Tasks with Virtual Reality – 18446},
  author={Jordan Allspaw and Jonathan Roche and Nicholas Lemiesz and M. Yannuzzi and H. Yanco},
  • Jordan Allspaw, Jonathan Roche, +2 authors H. Yanco
  • Published 2018
  • In this paper, we describe our ongoing work to develop cooperative control of NASA's R5 Valkyrie humanoid robot for performing dexterous manipulation tasks inside gloveboxes commonly found in many nuclear facilities. These tasks can be physically demanding and provide some element of risk to the operator when done by a person in situ. For example, if a glove is ruptured, the operator could be exposed to radioactive material. In many cases, the operator has low visibility and is unable to reach… CONTINUE READING

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