Enhanced teleoperation for D&D

Young S. Park*, Hyosig Kang, Thomas F. Ewing, Eric L. Faulring, Ed Colgate, Michael Peshkin

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

18 Scopus citations


Remote systems will be essential for reducing risk to human workers from hazardous radiation and difficult work environments, while improving productivity and reducing costs. The major drawback of currently available remote manioulator system is that teleoperation is slow and imprecise. The presented work focuses on enhancing remote operation of tools for D&D tasks by introducing teleautonomy and telecollaboration. In teleautonomy, the robot performs a given task autonomously, while human operator intervenes the process as a supervisor. In telecollaboration, the human operator is passively constrained by a virtual fixture, but is responsible for the motion. This work, sponsored by US Department of Energy (DOE) Environmental Management Science Program (EMSP), builds on a reactive, agent-based control architecture and cobot control technology.

Original languageEnglish (US)
Pages (from-to)3702-3707
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number4
StatePublished - Jul 5 2004
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: Apr 26 2004May 1 2004


  • D&D
  • Recative behaviors
  • Teleautonomy
  • Telecollaboration
  • Teleoperation
  • Virtual fixture

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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