| タイトル | Design and implementation of a robot control system with traded and shared control capability |
| 著者（英） | Venkataraman, S. T.; Hayati, S. |
| 著者所属（英） | Jet Propulsion Lab., California Inst. of Tech. |
| 発行日 | 1989-01-01 |
| 言語 | eng |
| 内容記述 | Preliminary 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. |
| NASA分類 | CYBERNETICS |
| レポートNO | 89A53445 |
| 権利 | Copyright |
| URI | https://repository.exst.jaxa.jp/dspace/handle/a-is/361359 |
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