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Fall 2010 GRASP Seminar – Gunter Niemeyer, Willow Garage & Stanford University, “Model-Mediated Telerobotics: Chasing the Holy Grail of Telepresence”

December 10, 2010 @ 11:00 am - 12:00 pm

From the very beginning of robotics and telerobotics, we have
envisioned using a robot to be our presence at a second location. This
includes seeing what the robot sees, feeling what the robot feels. And
it is still true today – operators sooner or later want to feel the
remote world. Traditional wisdom suggests feeding back sensor
information to the user as directly as possible, making the system as
transparent as possible. Yet this has always left us in a tight bind
between performance and stability. In contrast and to circumvent this
dilemma, we will discuss the use of simple models to communicate
between master and slave and enable force feedback. Encoding
information as such makes the system more robust, more stable, and
perhaps counter-intuitively allows greater presence. The approach also
starts bridging the divide between manual remote control and
supervisory control, which relies entirely on local autonomy. For
perspective we also examine other recent activities at Willow Garage.


- Learn More

Dr. Günter Niemeyer is a senior research scientist at Willow Garage
Inc. and a consulting professor of Mechanical Engineering at Stanford
University. His research examines physical human-robotic interactions
and interaction dynamics, force sensitivity and feedback, teleoperation
with and without communication delays, and haptic interfaces. This
involves efforts ranging from realtime motor and robot control to user
interface design. Dr. Niemeyer received his M.S. and Ph.D. from MIT in
the areas of adaptive robot control and bilateral teleoperation,
introducing the concept of wave variables. He also held a postdoctoral
research position at MIT developing surgical robotics. In 1997 he
joined Intuitive Surgical Inc., where he helped create the daVinci
Minimally Invasive Surgical System. This telerobotic system enables
surgeons to perform complex procedures through small (5 to 10mm)
incisions using an immersive interface and is in use at hundreds of
hospitals worldwide. He joined the Stanford faculty in the Fall of
2001, directing the Telerobotics Lab and teaching dynamics, controls,
and telerobotics. He has been a member of the Willow Garage research
group since 2009.


December 10, 2010
11:00 am - 12:00 pm
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