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Proceedings Paper

Experiments in tele-operator and autonomous control of space robotic vehicles
Author(s): Harold L. Alexander
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Paper Abstract

A program of research is presented that embraces teleoperator and automatic navigational control of freelyflying satellite robots. Current research goals include developing visual operator interfaces for improved vehicle teleoperation studying the effects of different visual interface system designs and achieving autonomous visionbased vehicle navigation and control. This research program combines virtual-environment teleoperation studies with neutral-buoyancy experiments using a space robot simulator vehicle that is currently under development. Visualinterface design variables include monoscopic versus stereoscopic displays and cameras helmet-mounted versus panelmounted display monitors head-tracking versus fixed or manually steerable remote cameras and provision of vehiclefixed visual cues or markers in the remote scene for improved sensing of vehicle position orientation and motion. Autonomous-control work concentrates on developing the neutral-buoyancy vehicle and the vision-based sensing systems that will support automatic vehicle control experiments.

Paper Details

Date Published: 1 March 1991
PDF: 6 pages
Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25500
Show Author Affiliations
Harold L. Alexander, Massachusetts Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1388:
Mobile Robots V
Wendell H. Chun; William J. Wolfe, Editor(s)

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