Design and implementation of a robot control system with traded and shared control capabilityPreliminary results are reported from efforts to design and develop a robotic system that will accept and execute commands from either a six-axis teleoperator device or an autonomous planner, or combine the two. Such a system should have both traded as well as shared control capability. A sharing strategy is presented whereby the overall system, while retaining positive features of teleoperated and autonomous operation, loses its individual negative features. A two-tiered shared control architecture is considered here, consisting of a task level and a servo level. Also presented is a computer architecture for the implementation of this system, including a description of the hardware and software.
Document ID
19890066074
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Hayati, S. (Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Venkataraman, S. T. (California Institute of Technology Jet Propulsion Laboratory, Pasadena, United States)
Date Acquired
August 14, 2013
Publication Date
January 1, 1989
Subject Category
Cybernetics
Meeting Information
Meeting: 1989 IEEE International Conference on Robotics and Automation