NASA's Human Space Flight program depends heavily on spacewalks performed by human astronauts. These so-called extra-vehicular activities (EVAs) are risky, expensive and complex. Work is underway to develop a robotic astronaut's assistant that can help reduce human EVA time and workload by delivering human-like dexterous manipulation capabilities to any EVA worksite. An experiment is conducted to evaluate human-robot teaming strategies in the context of a simplified EVA assembly task in which Robonaut, a collaborative effort with the Defense Advanced Research Projects Agency (DARPA), an anthropomorphic robot works side-by-side with a human subject. Team performance is studied in an effort to identify the strengths and weaknesses of each teaming configuration and to recommend an appropriate division of labor. A shared control approach is developed to take advantage of the complementary strengths of the human teleoperator and robot, even in the presence of significant time delay.


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    Titel :

    Effective Division of Labor Between Human and Robotic Agents Performing a Cooperative Assembly Task


    Beteiligte:
    F. Rehnmark (Autor:in) / W. Bluethmann (Autor:in) / J. Rochlis (Autor:in) / E. Huber (Autor:in) / R. Ambrose (Autor:in)

    Erscheinungsdatum :

    2003


    Format / Umfang :

    21 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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