Robotic systems for space operations will require a combination of teleoperation, closely supervised autonomy, and loosely supervised autonomy. They may involve multiple robots, multiple controlling sites, and long communication delays. We have constructed a distributed telerobotics system as a framework for studying these problems. Our system is based on a modular interconnection scheme which allows the components of either manual or autonomous control systems to communicate and share information. It uses a wide area network to connect robots and operators at several different sites. This presentation describes the structure of our system, the components used in our configurations, and results of some of our teleoperation experiments.

Date Published: 1 November 1992
PDF: 12 pages
Proc. SPIE 1829, Cooperative Intelligent Robotics in Space III, (1 November 1992); doi: 10.1117/12.131713

Published in SPIE Proceedings Vol. 1829:
Cooperative Intelligent Robotics in Space III
Jon D. Erickson, Editor(s)