A lattice controller for telerobotic systemsA model for a lattice control structure for telerobotic systems (Critter) has been developed and prototyped. The Critter hierarchical lattice structure, node potentiation, and weighted feedback are described, and the implementation of the Critter model on a VAX architecture is addressed with regard to node processes, lattice structure, node potentiation, and network activation. The implementation environment is considered and the Critter model attributes which are desirable in a telerobotic system are discussed. Future research directions on the use of this concept for telerobotic control are examined.
Document ID
19880040180
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Sliwa, Nancy Orlando (NASA Langley Research Center Hampton, VA, United States)
Soloway, Donald (NASA Langley Research Center Hampton, VA, United States)