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State-of-the-Art in Space Tele-Robotics

State-of-the-Art in Space Tele-Robotics. May 2, 2012. State-of-the-Art in Space Tele-Robotics. Panel 3: Robert Ambrose (JSC) Brian Wilcox (JPL) Terry Fong (ARC) Andre Schiele (ESA) David Akin (UMd). National Robotics Initiative (NRI) NSF, NASA, NIH, USDA .

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State-of-the-Art in Space Tele-Robotics

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  1. State-of-the-Art in Space Tele-Robotics May 2, 2012

  2. State-of-the-Art in Space Tele-Robotics Panel 3: Robert Ambrose (JSC) Brian Wilcox (JPL) Terry Fong (ARC) Andre Schiele (ESA) David Akin (UMd)

  3. National Robotics Initiative (NRI)NSF, NASA, NIH, USDA. President Obama, June 2011 at CMU

  4. Tele-Robotics Challenges in Space • Space defines “Tele” at the grandest scales • Time delay • Loss of communication • Damping actions of gravity are often not present • Can’t stop and settle • Complex dynamics • Extreme temp, lighting • Stresses cameras

  5. One of the key ideas: Time Ideas: Predictors Time/position clutching Compliance control Sensory substitution Wave transformations Supervisory control Questions: Urgency/pace in space Task completion times Thomas B. Sheridan, “Space Teleoperation Through Time Delay: Review and Prognosis”, IEEE Transactions on Robotics and Automation, October 1993.

  6. Some Words of Wisdom Thomas B. Sheridan, “Space Teleoperation Through Time Delay: Review and Prognosis”, IEEE Transactions on Robotics and Automation, October 1993.

  7. Robonaut 2 ISS Update • R2 Launched February 2011 • STS 133 • R2 Unpacked March 2011 • Punk’d by Crew • R2 Power Up August 2011 • Thermal model validation • R2 Safety Checkout Sept 2011 • Human safety • Handshake in Space Feb 2012 • First human contact • Sign Language Feb 2012 • Signed “Hello World” • First Task Air Velocity Mar 2012 • Held sensor to measure ducts • Task Board April 2012 • Flipped and verified switches

  8. Robonaut Clips • Task Board Automation (Hart et al) • Vision to coarse alignment • Tactile and haptic sensing • Learning • Vision to confirm task execution • Zero Gravity Climbing (Radford et al) • Hand rail grasping • Object carrying • Tunnel navigation

  9. Robonaut 2 and Centaur 2 • Mobile Manipulation (Diftler, Bluethmann, et al) • Mobile Rover Base • Crab Drive • Active Suspension • Manipulators • Robonaut 2 Torso • Digger Tool • Supervised Autonomy (Hambuchen) • Operated Across 50 s time ‘delay • Supervisor Designates Rock • Robot Drive and Grasps • Tell Robot “Wrong Rock”

  10. Questions ?

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