Supervising Remote Humanoids Across Intermediate Time Delay

The President's Vision for Space Exploration, laid out in 2004, relies heavily upon robotic exploration of the lunar surface in early phases of the program. Prior to the arrival of astronauts on the lunar surface, these robots will be required to be controlled across space and time, posing a co...

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Bibliographic Details
Main Authors: Hambuchen, K., Bluethmann, W., Goza, M., Ambrose, R., Rabe, K., Allan, M.
Format: Conference Proceeding
Language:English
Subjects:
autonomous tool use
control over time delay
Delay effects
Extraterrestrial measurements
Humanoid robots
Mars
Moon
Motion control
Orbital robotics
remote robots
Robot vision systems
sensory egosphere
Space exploration
task assistant
Time measurement
Online Access:Request full text
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Summary:The President's Vision for Space Exploration, laid out in 2004, relies heavily upon robotic exploration of the lunar surface in early phases of the program. Prior to the arrival of astronauts on the lunar surface, these robots will be required to be controlled across space and time, posing a considerable challenge for traditional telepresence techniques. Because time delays will be measured in seconds, not minutes as is the case for Mars Exploration, uploading the plan for a day seems excessive. An approach for controlling humanoids under intermediate time delay is presented. This approach uses software running within a ground control cockpit to predict an immersed robot supervisor's motions which the remote humanoid autonomously executes. Initial results are presented
ISSN:2164-0572
DOI:10.1109/ICHR.2006.321392