An area of increasing interest in Al Robotics and Computer Vision is integrating techniques from these fields to the problem of controlling autonomous systems. Space-based systems such as NASA''s robotic assembly of Orbital Replacement Units (ORU''s) provide a complex realistic domain for this integration research. In this paper we report on current MITRE research in the use of situated control for autonomous robotic assembly of ORUs. A wrist-mounted camera is used to acquire the pose of ORU''s. An on-line control module uses the pose data to refine the on-going robot actions so that the planned task can be executed both safely and robustly. Experimental results on a Cincinnati Milacron T3 Industrial robot at Goddard Space Right Center (GSFC) Intelligent Robotic Laboratory will be included.


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    Title :

    Test of a vision-based autonomous space station robotic task



    Conference:

    Cooperative Intelligent Robotics in Space ; 1990 ; Boston,MA,United States


    Published in:

    Publication date :

    1991-02-01





    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English




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