Semi-automatic teleoperation for D&D

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

*Corresponding author for this work

Research output: Contribution to journalConference articlepeer-review

1 Scopus citations


For deactivation and decommissioning (D&D)) of contaminated structures in the weapons complex, remotely operated robotic systems are expected to replace human workers from hazardous radiation and difficult work environments, while improving productivity and reducing costs. Nevertheless, the major drawback of currently available remote operation technology is that teleoperation is a slow and imprecise process, mainly due to the difficulty of transferring perception and manipulation over a remote location. To this end, this work presents a semi-automatic teleoperation system that facilitates efficient and precise teleoperation. Building upon behavior based robotic architecture and a proprietary Cobotic hand controller, two types of enhanced teleoperation - tele-autonomy and tele-collaboration - are implemented.

Original languageEnglish (US)
Pages (from-to)283-290
Number of pages8
JournalConference on Robotics and Remote Systems- Proceedings
StatePublished - 2004
Event10th International Conference on Robotics and Remote Systems for Hazardous Environments - Gainesville, FL, United States
Duration: Mar 28 2004Mar 31 2004

ASJC Scopus subject areas

  • General Engineering
  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Nuclear Energy and Engineering


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