We introduce a novel task execution capability that enhances the ability of in-situ crew members to function independently from Earth by enabling safe and efficient interaction with automated systems. This task execution capability provides the ability to (1) map goal-directed commands from humans into safe, compliant, automated actions, (2) quickly and safely respond to human commands and actions during task execution, and (3) specify complex motions through teaching by demonstration. Our results are applicable to future surface robotic systems, and we have demonstrated these capabilities on JPL's All-Terrain Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot.


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    Title :

    Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations



    Conference:

    Infotech@Aerospace 2011 ; 2011 ; Saint Louis, MO, United States


    Publication date :

    2011-03-29


    Type of media :

    Conference paper


    Type of material :

    No indication


    Language :

    English




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