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Model-based supervisory control in telerobotics.

T T Blackmon1, L W Stark

  • 1Telerobotics Unit, University of California at Berkeley 94720-2020, USA.

Presence (Cambridge, Mass.)
|April 1, 1996
PubMed
Summary
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This study introduces a model-based supervisory control technique for telerobotics, enhancing performance in remote operations. The system allows human operators to plan tasks interactively using a world model, improving teleoperation efficiency.

Area of Science:

  • Robotics
  • Control Systems
  • Human-Computer Interaction

Background:

  • Teleoperation faces performance challenges, particularly with complex tasks and limited bandwidth.
  • Existing methods often lack interactive planning and real-time feedback for remote control.

Purpose of the Study:

  • To present a novel model-based supervisory control technique for telerobotics.
  • To develop a human-machine interface (HMI) for interactive task planning and segmentation.
  • To enable autonomous execution of tasks by a telerobot using a shared world model.

Main Methods:

  • Developed an HMI with a graphic user interface (GUI) for task sequence script generation.
  • Utilized a world model of the telerobotic working environment (TRWE) for planning and control.
Keywords:
NASA Center ARCNASA Discipline Space Human Factors

Related Experiment Videos

  • Implemented intermittent transfer of task models over low-bandwidth channels.
  • Enabled autonomous trajectory coordination between operator-defined set-points with preview functionality.

    • Main Results:

    • Demonstrated the utility of the model-based supervisory control technique through preliminary results.
    • Showcased successful remote control of a manipulator arm via the Internet.
    • Validated the interactive task segmentation and planning capabilities.

    Conclusions:

    • The model-based supervisory control technique effectively addresses performance issues in teleoperation.
    • The developed HMI facilitates intuitive task planning and execution in telerobotic systems.
    • This approach enhances the efficiency and reliability of remote robotic operations.