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Brunner, B. and Hirzinger, G. and Landzettel, K., Heindl, J., (1993) Multisensory shared autonomy and TEle-SEnsor-Programming -- Key issues in the space robot technology experiment ROTEX. In: Proc. IEEE/RSJ International Conference IROS'93 Intelligent Robots and Systems'93, pp. 2123-2139. IEEE/RSJ Intern. Conf., Yokohama, Japan, July 26-30, 1993 Vortragender: Hirzinger, G..
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Abstract
The paper outlines key technologies in DLR's approach to space robotics. Based on multisensory gripper technology, local on-board sensory feedback, and predictive graphic simulation (with emphasis on sensory simulation) the tele-sensor-programming concept is introduced that allows sensor-based teleoperation despite of large signal delays as well as sensor-based off-line programming following a "learning by showing" concept. End of April 93 a small multisensory robot based on these concepts was flying in space with a 10 day-space shuttle mission (spacelab D-2 mission on shuttle COLUMBIA, flight STS 55). This robot technology experiment ROTEX was very successful and showed that with these sensor-based concepts evenpresent-day space robots are able to perform different prototype tasks in a variety of operational modes, that include automatic operation, on-board teleoperation and on-ground teleoperation using human and/or machine intelligence.
| Item URL in elib: | https://elib.dlr.de/28049/ | ||||||||||||||||
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| Document Type: | Conference or Workshop Item (Paper) | ||||||||||||||||
| Additional Information: | LIDO-Berichtsjahr=1993, | ||||||||||||||||
| Title: | Multisensory shared autonomy and TEle-SEnsor-Programming -- Key issues in the space robot technology experiment ROTEX | ||||||||||||||||
| Authors: |
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| Date: | 1993 | ||||||||||||||||
| Journal or Publication Title: | Proc. IEEE/RSJ International Conference IROS'93 Intelligent Robots and Systems'93 | ||||||||||||||||
| Open Access: | No | ||||||||||||||||
| Gold Open Access: | No | ||||||||||||||||
| In SCOPUS: | No | ||||||||||||||||
| In ISI Web of Science: | No | ||||||||||||||||
| Page Range: | pp. 2123-2139 | ||||||||||||||||
| Status: | Published | ||||||||||||||||
| Event Title: | IEEE/RSJ Intern. Conf., Yokohama, Japan, July 26-30, 1993 Vortragender: Hirzinger, G. | ||||||||||||||||
| HGF - Research field: | UNSPECIFIED | ||||||||||||||||
| HGF - Program: | Space (old) | ||||||||||||||||
| HGF - Program Themes: | W RP - Raumtransport | ||||||||||||||||
| DLR - Research area: | UNSPECIFIED | ||||||||||||||||
| DLR - Program: | W RP - Raumtransport | ||||||||||||||||
| 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 06:52 |
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