Design of a SemiHumanoid Telepresence Robot for Plant Disaster Response and Prevention We introduce the endtoend design of WRSTelebot, a semihumanoid telepresence robot platform for disaster response. Its software design focuses on enabling highfidelity immersive telepresence control of its manipulators and proactive multilateral control enabled by anomaly detection of the operatorxe2x80x99s physical state. The robotxe2x80x99s key mechanical design features include a transformable mobile base that allows the robot to switch between two drive systems: caterpillartrack and differential drive, depending on the encountered terrain. The upper body is composed of a retractable dynamically balanced 20DoF humanoid torso, that can fold entirely, allowing the robot to navigate through spaceconstrained environments. We evaluateits performance during offsite tests to show its usability.

An Intuitive, Affordances Oriented Telemanipulation Framework for a Dual Robot Arm Hand System: On the Execution of Bimanual Tasks The concept of teleoperation has been studied since the advent of robotics and has found use in a wide range of applications, including exploration of remote or dangerous environments (e.g., space missions, disaster management), telepresence based time optimisation (e.g., remote surgery) and robot learning. While a significant amount of research has been invested into the field, intricate manipulation tasks still remain challenging from the user perspective due to control complexity. In this paper, we propose an intuitive, affordances oriented telemanipulation framework for a dual robot arm hand system. An object recognition module is utilised to extract scene information and provide grasping and manipulation assistance to the user, simplifying the control of adaptive, multifingered hands through a commercial Virtual Reality (VR) interface. The systemxe2x80x99s performance was experimentally validated in a remote operation setting, where the user successfully performed a set of bimanual manipulation tasks.