Authors: [tex2html_wrap4378]M. Zhang, M. Buehler, J. Hollerbach
Investigator username: buehler
Teleoperation dexterity can be enhanced by incorporating full or partial autonomous execution of subtasks. We focus on tasks with dynamic robot-environment interactions and fast task driven finger or hand motions. These are required, for example, in velocity matching contacts with and grasping of moving objects. Such tasks present difficulties for full teleoperation due to obstruction of visual feedback to the operator, requirements for high master-slave bandwidth, or the need for excessive amount of sensory feedback to the master. New algorithms will be implemented on a seven DOF robot arm with a three finger hand.