Search research articles

ABOUT JoVE

Overview Leadership Blog JoVE Help Center

AUTHORS

Publishing Process Editorial Board Scope & Policies Peer Review FAQ Submit

LIBRARIANS

Testimonials Subscriptions Access Resources Library Advisory Board FAQ

RESEARCH

JoVE Journal Methods Collections JoVE Encyclopedia of Experiments Archive

EDUCATION

JoVE Core JoVE Business JoVE Science Education JoVE Lab Manual Faculty Resource Center Faculty Site

Terms & Conditions of Use

Related Concept Videos

Circular Orbits and Critical Velocity for Satellites

Circular Orbits and Critical Velocity for Satellites

The Moon orbits around the Earth. In turn, the Earth (and other planets) orbit the Sun. The space directly above our atmosphere is filled with artificial satellites in orbit. One can examine the circular orbit, the simplest kind of orbit, to understand the relationship between the speed and the period of planets and satellites with respect to their positions and the bodies that they orbit.
Nicolaus Copernicus (1473-1543) first suggested that the Earth and all other planets orbit the Sun in...

Stereotype Content Model

Stereotype Content Model

The Stereotype Content Model (SCM) was first proposed by Susan Fiske and her colleagues (Fiske, Cuddy, Glick & Xu, 2002; see also Fiske, 2012 and Fiske, 2017). The SCM specifies that when someone encounters a new group, they will stereotype them based on two metrics: warmth—or that group’s perceived intent, and how likely they are to provide help or inflict harm—and competence—or their ability to carry out that objective. Depending on the warmth-competence...

Satellite Stem Cells and Muscular Dystrophy

Satellite Stem Cells and Muscular Dystrophy

Satellite stem cells or myosatellite cells are quiescent stem cells that Alexander Mauro first identified in 1961. These cells are located between the sarcolemma, the plasma membrane of muscle fibers, and the basal lamina, the connective tissue sheath covering it. These mononucleated cells are activated in response to muscle injury, can transform into myoblasts, and may form or repair muscle fibers. Myosatellite cells can provide additional myonuclei for muscle regeneration or return to a...

You might also read

Related Articles

Articles linked to this work by shared authors, journal, and citation graph.

Sort by

Same author

Three-Dimensional Surgical Needle Localization and Tracking Using Stereo Endoscopic Image Streams.

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation·2021

Same author

Real-Time Visual Tracking of Dynamic Surgical Suture Threads.

IEEE transactions on automation science and engineering : a publication of the IEEE Robotics and Automation Society·2018

Same author

Automatic Initialization and Dynamic Tracking of Surgical Suture Threads.

IEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation·2015

Same author

Determining navigability of terrain using point cloud data.

IEEE ... International Conference on Rehabilitation Robotics : [proceedings]·2013

Search research articles

Related Experiment Video

Updated: Jul 20, 2025

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

Published on: November 24, 2015

Compliant robotic behaviors for satellite servicing.

Joseph Cressman¹, Rahul Pokharna¹, Wyatt Newman¹

¹Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH, United States.

Frontiers in Robotics and AI

|August 3, 2023

Summary

Pose Target Wrench Limiting (PTWL) offers a powerful solution for space robotics challenges like communication delays. This compliant control method enhances teleoperation safety and enables semi-autonomous task completion for astronauts.

Keywords:

admittance control behaviors compliance remote supervision satellite servicing Frontiers teleoperation

More Related Videos

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

Published on: January 6, 2023

Related Experiment Videos

Last Updated: Jul 20, 2025

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

SSVEP-based Experimental Procedure for Brain-Robot Interaction with Humanoid Robots

Published on: November 24, 2015

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy

Published on: October 14, 2017

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique

Published on: January 6, 2023

Area of Science:

Robotics
Space Exploration Engineering

Background:

Traditional industrial robots require precision and speed.
Space robots must handle environmental uncertainties, communication delays, and dynamics, similar to astronauts.
Compliant robotics and behavior-based programming are well-suited for space applications.

Purpose of the Study:

To introduce and evaluate Pose Target Wrench Limiting (PTWL), a compliant behavior paradigm tailored for space robotics.
To demonstrate PTWL's effectiveness in managing uncertainties and communication issues inherent in space operations.

Main Methods:

PTWL controls robots by guiding a virtual attractor to a target pose using virtual forces from an admittance controller.
The robot follows the attractor until safety conditions are breached or success criteria are met.
PTWL was tested on various quasi-static tasks relevant to future space operations.

Main Results:

PTWL proved to be a powerful tool for space robotics tasks.
The method significantly enhanced the ease and safety of teleoperation for quasi-static tasks.
PTWL facilitated the development of semi-autonomous state machines for reliable complex task completion with minimal human input.

Conclusions:

PTWL is highly effective for space robotics, addressing challenges like communication delays and environmental uncertainties.
The paradigm simplifies teleoperation and enables semi-autonomous control, reducing astronaut workload.
PTWL represents a significant advancement for robotic operations in space environments.