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    Human-Robot Control Strategies for the NASA/DARPA Robonaut

    Human-Robot Control Strategies for the NASA/DARPA Robonaut


    The Robotic Systems Technology Branch at the NASA Johnson Space Center (JSC) is currently developing robot systems to reduce the Extra-Vehicular Activity (EVA) and planetary exploration burden on astronauts. One such system, Robonaut, is capable of interfacing with external Space Station systems that currently have only human interfaces. Robonaut is human scale, anthropomorphic, and designed to approach the dexterity of a space-suited astronaut. Robonaut can perform numerous human rated tasks, including actuating tether hooks, manipulating flexible materials, soldering wires, grasping handrails to move along space station mockups, and mating connectors. More recently, developments in autonomous control and perception for Robonaut have enabled dexterous, real-time man-machine interaction. Robonaut is now capable of acting as a practical autonomous assistant to the human, providing and accepting tools by reacting to body language. A versatile, vision-based algorithm for matching range silhouettes is used for monitoring human activity as well as estimating tool pose.

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    Titel :

    Human-Robot Control Strategies for the NASA/DARPA Robonaut

    Beteiligte:
    M. A. Diftler (Autor:in) / C. J. Culbert (Autor:in) / R. O. Ambrose (Autor:in) / E. Huber (Autor:in) / W. J. Bluethmann (Autor:in)
    Erscheinungsdatum :

    2003

    Format / Umfang :

    9 pages

    Medientyp :

    Report

    Format :

    Keine Angabe

    Sprache :

    Englisch

    Schlagwörter :

    Computers, Control & Information Theory , Space Technology , Astronauts , Automatic control , Robot control , Robotics , Robots , Man machine systems , Computer vision , Extravehicular activity , Manual control , Tasks , Estimating , Tethering , Soldering

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