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1 April 1991 Fusing human and machine skills for remote robotic operations
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Proceedings Volume 1383, Sensor Fusion III: 3D Perception and Recognition; (1991)
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
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.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Paul S. Schenker, Won Soo Kim, Steven Venema, and Antal K. Bejczy "Fusing human and machine skills for remote robotic operations", Proc. SPIE 1383, Sensor Fusion III: 3D Perception and Recognition, (1 April 1991);

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