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Proceedings Paper

Test of a vision-based autonomous space station robotic task
Author(s): Anthony R. Castellano; Vincent S. S. Hwang; William E. Stoney
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Paper Abstract

An area of increasing interest in Al Robotics and Computer Vision is integrating techniques from these fields to the problem of controlling autonomous systems. Space-based systems such as NASA''s robotic assembly of Orbital Replacement Units (ORU''s) provide a complex realistic domain for this integration research. In this paper we report on current MITRE research in the use of situated control for autonomous robotic assembly of ORUs. A wrist-mounted camera is used to acquire the pose of ORU''s. An on-line control module uses the pose data to refine the on-going robot actions so that the planned task can be executed both safely and robustly. Experimental results on a Cincinnati Milacron T3 Industrial robot at Goddard Space Right Center (GSFC) Intelligent Robotic Laboratory will be included.

Paper Details

Date Published: 1 February 1991
PDF: 8 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25438
Show Author Affiliations
Anthony R. Castellano, MITRE Corp. (United States)
Vincent S. S. Hwang, MITRE Corp. (United States)
William E. Stoney, MITRE Corp. (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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