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Proceedings Paper

Interactive task planning system for space robots
Author(s): Keizyu Okabayashi; Ichiro Watanabe; Takeshi Aoki; Tsugito Maruyama; Takashi Uchiyama
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Paper Abstract

For space robots telemanipulation long communication delay and operator load are serious problems. We have developed a useful off-line robot motion planning system. The operator enters commands using object-level instructions, and low-level actions like path planning, sensor feedback, etc. are generated and executed automatically. The command generation and path planning algorithms in this system are original. The path planning algorithm can generate a collision free path in a few seconds using ready-made suggested paths which we call path- templates. The system greatly simplifies the operator's task and also frees the operator from dealing with the communication delay inherent in space robot telemanipulation.

Paper Details

Date Published: 21 December 1993
PDF: 12 pages
Proc. SPIE 2057, Telemanipulator Technology and Space Telerobotics, (21 December 1993); doi: 10.1117/12.164894
Show Author Affiliations
Keizyu Okabayashi, Fujitsu Labs. Ltd. (Japan)
Ichiro Watanabe, Fujitsu Labs. Ltd. (Japan)
Takeshi Aoki, Fujitsu Labs. Ltd. (Japan)
Tsugito Maruyama, Fujitsu Labs. Ltd. (Japan)
Takashi Uchiyama, Fujitsu Labs. Ltd. (Japan)

Published in SPIE Proceedings Vol. 2057:
Telemanipulator Technology and Space Telerobotics
Won Soo Kim, Editor(s)

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