Publications Details

Mobile manipulation: Delivering dexterous manipulation capabilities to remote sites

Boissiere, P.T.

There are many remote applications which require the dexterous manipulation of tools and materials in the field. These tasks range from the assembly and maintenance of space structures to the characterization and retrieval of hazardous materials here on Earth. Operations which involve the dexterous manipulation of hazardous materials in the field have, in the past, been completed by technicians. Use of humans in such hazardous operations is under increased scrutiny due to high costs and low productivity associated with providing protective clothing and environments. Traditional remote manual field operations have, unfortunately, proven to have very low productivity when compared with unencumbered human operators. Recent advances in the integration of sensors and computing into the control of remotely operated equipment have shown great promise for reducing the cost of remote systems while providing faster and safer remote systems. This paper discusses applications of such advances to remote field operations.