Research interest
photo
An unexpected on X25 : You are peacefully supervising the assembly of the new orbital station X25 performed by several robots programmed on earth. Suddenly, an element lightly held by a handling arm is hit by a meteorite. The arm deviates from its trajectory and stops immediately. A voice then annouces the diagnosis on the robot break down, the prehension system as well as the control card of the robot RS4 are out of service and must be changed. The same voice annouces that this break down does not affect the other robots tasks, and suggests that you should post the repair procedure.
After a brief thought, you decide to send your colleague outside to repair the robot while you modify the control module, this way, the test can be performed in cooperation in case of unexpected problems not detected by the computer. You walk toward the control cabinet as it is specified by the manual in front of you, you take a 14in wrench to unscrew the door of the cabinet, designed to resist the landing shock. Then you activate the repair mode by turning lever B2 to the left, then you retrieve CM24 module and you replace it with a new module by exerting a light pressure. In order to test the robot, you push on keys B2C and B2G. You read the posted code on your right, which should be indentical to that indicated in the manual. At the same time your colleague's voice annouces that the test of the gripper was performed successfully, and that the program can be remotely charged.
A few hours later, a colleague comes to replace you. You take off your suit and you go back home with the thought that the new remote manipulator system allowed you to successfully face the unexpected behavior of nature.
This is not a big dream of the human being like
teletransportation or instantaneous travel to the universe by the
decomposition of matter. However, this is only a dream of the
teleoperation pioneers: to create an ideal teleoperation system
that encompasses precision and power of the slave robot. Today,
due to Virtual Reality, we witness the apparition of a new
approach to teleoperation systems which have the uniqueness of
being highly interactive and immersive.
As it is well illustrated by this scenario which we have invented
above regarding a spatial application, these new teleoperation
systems must allow the operator to see and understand the
environment, identify the cause of the problems to solve and
therefore, plan and chose a procedure of the task to execute with
power, precision and adequate dexterity.