NASA Logo

NTRS

NTRS - NASA Technical Reports Server

Back to Results
Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot OperationsWe introduce a novel task execution capability that enhances the ability of in-situ crew members to function independently from Earth by enabling safe and efficient interaction with automated systems. This task execution capability provides the ability to (1) map goal-directed commands from humans into safe, compliant, automated actions, (2) quickly and safely respond to human commands and actions during task execution, and (3) specify complex motions through teaching by demonstration. Our results are applicable to future surface robotic systems, and we have demonstrated these capabilities on JPL's All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot.
Document ID
20120009648
Acquisition Source
Jet Propulsion Laboratory
Document Type
Conference Paper
External Source(s)
Authors
Dong, Shuonan
(Massachusetts Inst. of Tech. Cambridge, MA, United States)
Conrad, Patrick R.
(Massachusetts Inst. of Tech. Cambridge, MA, United States)
Shah, Julie A.
(Massachusetts Inst. of Tech. Cambridge, MA, United States)
Williams, Brian C.
(Massachusetts Inst. of Tech. Cambridge, MA, United States)
Mittman, David S.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Ingham, Michel D.
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Verma, Vandana
(Jet Propulsion Lab., California Inst. of Tech. Pasadena, CA, United States)
Date Acquired
August 25, 2013
Publication Date
March 29, 2011
Subject Category
Cybernetics, Artificial Intelligence And Robotics
Meeting Information
Meeting: Infotech@Aerospace 2011
Location: Saint Louis, MO
Country: United States
Start Date: March 23, 2011
End Date: March 30, 2011
Distribution Limits
Public
Copyright
Other
Keywords
multi-agent collaboration
arbitrary choices
next generation robotics

Available Downloads

There are no available downloads for this record.
No Preview Available