Research/ HUMAN-ROBOT TEAMING

Supervising Remote Humanoids Across Intermediate Time Delay

Kimberly Hambuchen, William Bluethmann, Michael Goza, Robert Ambrose, Kenneth Rabe, Mark Allan

Humanoids 2006Classic/Dec 1, 2006/NASA Johnson Space Center/ 12 citations

Classic. NASA JSC's early study of supervising Robonaut across the seconds-long delays of lunar teleoperation. Classics are kept regardless of year and don't appear in new-paper views or feeds. All classics

Technique

HRI & TeleoperationOpenAlex topic: Teleoperation and Haptic Systems

Indexed as

OpenAlexTeleoperation and Haptic Systems · Social Robot Interaction and HRI · Space Exploration and TechnologyNTRSCybernetics, Artificial Intelligence and Robotics

PDF DOI Semantic Scholar OpenAlex NASA NTRS

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.