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Telepresence is a refined, advanced form of robot remote control. The robot operator gets a sense of being on location, even if the remotely controlled machine, or telechir, and the operator are miles apart. Control and feedback are done by means of telemetry sent over wires, optical fibers, or radio.

34-3 Cartesian coordinate geometry in two dimensions. Variable x represents reach; y represents elevation.

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What It s Like Here is an example of a telepresence scenario The robot is autonomous and has a humanoid form The control station consists of a suit that you wear or a chair in which you sit with various manipulators and displays Sensors can give you feelings of pressure, sight, and sound You wear a helmet with a viewing screen that shows whatever the robot camera sees When your head turns, the robot head, with its vision system, follows, so you see an image that changes as you turn your head, as if you were in a space suit or diving suit at the location of the robot Binocular machine vision provides a sense of depth Binaural machine hearing allows you to perceive sounds Special vision modes let you see UV or IR; special hearing modes let you hear ultrasound or infrasound.

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A robot arm can be guided by means of a plane polar coordinate system with an elevation dimension added (Fig. 34-4). This is known as cylindrical coordinate geometry. In the cylindrical system, a reference plane is used. An origin point is chosen in this plane. A reference axis is defined, running away from the origin in the reference plane. In the reference plane, the position of any point can be specified in terms of reach x, elevation y, and rotation z, the angle that the reach arm subtends relative to the reference axis. Note that this is just like the situation for two-dimensional cartesian coordinate geometry shown in Fig. 34-3, except that the sliding movement is also capable of rotation. The rotation angle z can range from 0 to 360 degrees counterclockwise from the reference axis. In some systems, the range is specified as 0 to 180 degrees (up to a half circle counterclockwise from the reference axis), and 0 to 180 degrees (up to a half circle clockwise from the reference axis).

also house a very small, wireless motion and location sensor (they look like the nerdy black horn rims of the 60s) When the Cave is activated, the user suddenly finds himself or herself immersed in a seemingly endless school of sharks, or floating in space outside the shuttle, or dancing with an indescribable, three-dimensional polygon It s quite a remarkable thing Perhaps the best-known virtual virtual reality application is the Holodeck used on Star Trek: The Next Generation Sandin smiles at the comparison to the Cave The thing that differentiates the Cave from the Holodeck is that you can t sit in the chairs in the cave They look pretty good, and they re there, but don t try to sit in them The fourth major application of VR is called virtual telepresence.

A telechir can be propelled by means of a track drive (similar to those used by military tanks), a wheel drive, or robot legs If the propulsion uses legs, you propel the telechir by literally walking around a room in your telepresence suit! In the case of track drive or wheel drive, you sit in a chair and drive the robot like a tank or a car The telechir, which is a form of android, has two arms, each with grippers resembling human hands When you want to pick something up, you go through the normal motions with your own hands Back-pressure sensors and position sensors let you feel (to a limited extent) what s going on If an object masses 1 kg, it feels as if it masses 1 kg because of resistance provided by the back-pressure sensors.

A robot arm capable of moving in three dimensions using revolute geometry is shown in Fig. 34-5. The whole arm can rotate through a full circle (360 degrees) at the base point, or shoulder. There is also an elevation joint at the base that can move the arm through 90 degrees, from horizontal to vertical. A joint in the middle of the robot arm, at the elbow, moves through 180 degrees, from a straight position to dou-

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