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A prototype ground-remote telerobot control system

Published online by Cambridge University Press:  09 March 2009

Paul G. Backes ,
John Beahan ,
Mark K. Long ,
Robert D. Steele ,
Bruce Bon  and
Wayne Zimmerman
Paul G. Backes
Affiliation:
Mail Stop 198–219, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109 (USA)
John Beahan
Affiliation:
Mail Stop 198–219, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109 (USA)
Mark K. Long
Affiliation:
Mail Stop 198–219, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109 (USA)
Robert D. Steele
Affiliation:
Mail Stop 198–219, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109 (USA)
Bruce Bon
Affiliation:
Mail Stop 198–219, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109 (USA)
Wayne Zimmerman
Affiliation:
Mail Stop 198–219, Jet Propulsion Laboratory, California Institute of Technology, 4800 Oak Grove Drive, Pasadena, California 91109 (USA)
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Summary

A local-remote telerobot control system is described which is being developed for time-delayed groundremote control of space telerobotic systems. The system includes a local site operator interface for interactive command building and sequencing for supervised autonomy and a remote site: the Modular Telerobot Task Execution System (MOTES), to provide the remote site task execution capability. The local site system also provides stereo graphics overlay on video with interactive update of the remote environmental model. The operator selects objects in the environment to interact with and skill types to specify the tasks to be performed, such as grasping a module or opening a door.

Keywords

Telerobot controlMOTESCommand parameterizationSpace station
Type
Articles
Information
Robotica , Volume 12 , Issue 6 , November 1994 , pp. 481 - 490
Copyright
Copyright © Cambridge University Press 1994

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