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The sensory and telerobotic aspects of the space robot technology experiment ROTEX

Hirzinger, G. and Dietrich, J. and Gombert, B. and Heindl, J. and Landzettel, K. and Schott, J. (1992) The sensory and telerobotic aspects of the space robot technology experiment ROTEX. In: Proc. i-SAIRAS'92. Int. Symposium `Artificial Intelligence, Robotics and Automation in Space, Sept. 30 - Oct. 2, 1992, Toulouse Labege, France.

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 online teleoperation and tele-sensorprogramming,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 froum ground, too.

Item URL in elib:https://elib.dlr.de/28003/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1992, note=408, pages=29,
Title:The sensory and telerobotic aspects of the space robot technology experiment ROTEX
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirzinger, G.UNSPECIFIEDUNSPECIFIED
Dietrich, J.UNSPECIFIEDUNSPECIFIED
Gombert, B.UNSPECIFIEDUNSPECIFIED
Heindl, J.UNSPECIFIEDUNSPECIFIED
Landzettel, K.UNSPECIFIEDUNSPECIFIED
Schott, J.UNSPECIFIEDUNSPECIFIED
Date:1992
Journal or Publication Title:Proc. i-SAIRAS'92
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Event Title:Int. Symposium `Artificial Intelligence, Robotics and Automation in Space, Sept. 30 - Oct. 2, 1992, Toulouse Labege, France
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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