Share Email Print

Proceedings Paper

Fusing human and machine skills for remote robotic operations
Author(s): Paul S. Schenker; Won Soo Kim; Steven Venema; Antal K. Bejczy
Format Member Price Non-Member Price
PDF $17.00 $21.00

Paper Abstract

Robotic devices under control of a remote human operator are increasingly attractive for space, underseas, nuclear, and waste management applications. In these arenas, the target tasks are often casually structured, non-repetitive activities which, given currently available automation technologies, seem to suggest teleoperative, versus purely robotic implementations. However, there may be a better alternative, one that is achievable in the reasonable future -- augment conventional teleoperations systems with computer assists -- to both improve task performance and lower operator workload. For instance, we illustrate in this paper how computer assists can improve teleoperator trajectory tracking during both free and force-constrained motions. Specifically, we report on computer graphics techniques which enable the human operator to both visualize and predict his detailed 3-D trajectories in real-time; we also describe man-machine interactive control procedures for better management of manipulator contact forces and positioning. Collectively, these new advanced teleoperations techniques both enhance system performance and significantly reduce control problems long-associated with teleoperations under time delay.

Paper Details

Date Published: 1 April 1991
PDF: 22 pages
Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991); doi: 10.1117/12.48083
Show Author Affiliations
Paul S. Schenker, Jet Propulsion Lab. (United States)
Won Soo Kim, Jet Propulsion Lab. (United States)
Steven Venema, Jet Propulsion Lab. (United States)
Antal K. Bejczy, Jet Propulsion Lab. (United States)

Published in SPIE Proceedings Vol. 1383:
Sensor Fusion III: 3D Perception and Recognition
Paul S. Schenker, Editor(s)

© SPIE. Terms of Use
Back to Top
Sign in to read the full article
Create a free SPIE account to get access to
premium articles and original research
Forgot your username?