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Flexible multimodal telepresent assembly using a generic interconnection framework

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5 Author(s)
C. Preusche ; Inst. of Robotics & Mechatronics, German Aerosp. Center (DLR), Wessling, Germany ; J. Hoogen ; D. Reintsema ; G. Schmidt
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A multimodal Internet-based telepresence system with interactive stereo vision, additional photo-realistic predictive display, and kinesthetic bilateral coupling in three degrees of freedom is presented. For easy coupling of various telepresence components by a unified interface structure and a generic link management protocol a CORBA based interconnection framework has been developed. By solving a peg-in-hole task in an industrial environment and with varying communication delay times, the system provides all capabilities for multimodal telepresent remote maintenance and assembly.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

Date of Conference:

2002