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Multisensory shared autonomy - a key issue in the space robot technology experiment ROTEX

Hirzinger, G. and Heindl, J. and Landzettel, K. and Brunner, B. (1992) Multisensory shared autonomy - a key issue in the space robot technology experiment ROTEX. In: Proc. IEEE Conf.. IEEE Conf. on Intelligent Robots and Systems, IROS'92, Raleigh, North Carolina, July 7-10, 1992.

Full text not available from this repository.

Abstract

The space robot technology experiment ROTEX to fly with the next spacelab mission D2 in January 1993 provides a multisensory robot which is supposed to work in an autonomous mode, teleoperated by astronauts, as well as in different telerobotic ground control modes.These include on-line teleoperation and telesensorprogramming, a task-level oriented programming technique involving `learning by showing'concepts in a virtual environment. The robot's key features are its multisensory gripper and the local sensory feedback schemes which are the basis for shared autonomy. The corresponding man-machine interface concepts using a 6 dof non- force-reflecting control ball and visual feedback to the human operator are explained.Stereographic simulation on ground is supposed to predict even the sensor based path refinement on board, while realtime fusion of stereo images and laser range information helps to predict the motion of floating objects to be grapsed from ground, too. Other prototype tasks to be performed by this space robot are the assembly of a truss structure and connecting/ disconnecting an electrical plug (orbit replaceable unit exchange ORU).

Item URL in elib:https://elib.dlr.de/28001/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1992, pages=10,
Title:Multisensory shared autonomy - a key issue in the space robot technology experiment ROTEX
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirzinger, G.UNSPECIFIEDUNSPECIFIED
Heindl, J.UNSPECIFIEDUNSPECIFIED
Landzettel, K.UNSPECIFIEDUNSPECIFIED
Brunner, B.UNSPECIFIEDUNSPECIFIED
Date:1992
Journal or Publication Title:Proc. IEEE Conf.
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Event Title:IEEE Conf. on Intelligent Robots and Systems, IROS'92, Raleigh, North Carolina, July 7-10, 1992
HGF - Research field:UNSPECIFIED
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:UNSPECIFIED
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):UNSPECIFIED
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012) > Institut für Dynamik der Flugsysteme
Deposited By: DLR-Beauftragter, elib
Deposited On:02 Apr 2006
Last Modified:27 Apr 2009 06:51

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