期刊名称：Journal of Automation, Mobile Robotics & Intelligent Systems (JAMRIS)
印刷版ISSN：1897-8649
电子版ISSN：2080-2145
出版年度：2015
卷号：9
期号：1
页码：41
DOI：10.14313/JAMRIS_1-2015/6
出版社：Industrial Research Inst. for Automation and Measurements, Warsaw
摘要：This arƟcle describes interacƟve methods that can easedifficult manipulaƟon tasks in Search & Rescue opera-Ɵons. We discuss the requirements that are necessary fora telemanipulaƟon system to be successfully used. Theseinclude not just correctness of generated moƟon but alsoergonomy, mobility and interacƟvity of the operator’s interface.We show that grippers with one or more degreesof freedom can be intuiƟvely controlled by different interfacemechanisms, supported by 3D vision systems. Testsare performed both in the simulaƟon environment andwith real grippers. A pracƟcal pipeline for a direct controland learning the system is also presented.
