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Sensorbased space robotics - ROTEX and its telerobotic features

Hirzinger, G. and Landzettel, K. and Dietrich, J. (1993) Sensorbased space robotics - ROTEX and its telerobotic features. In: Proc. IAF'93 44th Congress of the International-Astronautical Federation. IAF'93, Graz/Austria, 16-22 Oct. 1993 Vortragender: Hirzinger, G..

Full text not available from this repository.

Abstract

In early 93 the space robot technology experiment ROTEX has flown with space-shuttle COLUMBIA. A multisensory robot on board the spacecraft successfully worked in autonomous modes, teleoperated by astronauts, as well as in different telerobotic ground control modes.These include on-line teleoperation and tele-sensor- programming, a task-level oriented programming technique involving "learning by showing" concepts in a virtual environment. The robot's key features were 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 was used to predict not only the robot's free motion but even the sensor based path refinement on board.

Item URL in elib:https://elib.dlr.de/28063/
Document Type:Conference or Workshop Item (Paper)
Additional Information: LIDO-Berichtsjahr=1993, pages=20,
Title:Sensorbased space robotics - ROTEX and its telerobotic features
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Hirzinger, G.UNSPECIFIEDUNSPECIFIED
Landzettel, K.UNSPECIFIEDUNSPECIFIED
Dietrich, J.UNSPECIFIEDUNSPECIFIED
Date:1993
Journal or Publication Title:Proc. IAF'93 44th Congress of the International-Astronautical Federation
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Event Title:IAF'93, Graz/Austria, 16-22 Oct. 1993 Vortragender: Hirzinger, G.
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 06:52

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