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Telerobotics: A simulation facility for university researchAn experimental telerobotics (TR) simulation suitable for studying human operator (H.O.) performance is described. Simple manipulator pick-and-place and tracking tasks allowed quantitative comparison of a number of calligraphic display viewing conditions. A number of control modes could be compared in this TR simulation, including displacement, rate and acceleratory control using position and force joysticks. A homeomorphic controller turned out to be no better than joysticks; the adaptive properties of the H.O. can apparently permit quite good control over a variety of controller configurations and control modes. Training by optimal control example seemed helpful in preliminary experiments. An introduced communication delay was found to produce decrease in performance. In considerable part, this difficulty could be compensated for by preview control information. That neurological control of normal human movement contains a data period of 0.2 second may relate to this robustness of H.O. control to delay. The Ames-Berkeley enhanced perspective display was utilized in conjunction with an experimental helmet mounted display system (HMD) that provided stereoscopic enhanced views.
Document ID
19890017167
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Stark, L. (California Univ. Berkeley, CA, United States)
Kim, W. (California Univ. Berkeley, CA, United States)
Tendick, F. (California Univ. Berkeley, CA, United States)
Tyler, M. (California Univ. Berkeley, CA, United States)
Hannaford, B. (California Univ. Berkeley, CA, United States)
Barakat, W. (California Univ. Berkeley, CA, United States)
Bergengruen, O. (California Univ. Berkeley, CA, United States)
Braddi, L. (California Univ. Berkeley, CA, United States)
Eisenberg, J. (California Univ. Berkeley, CA, United States)
Ellis, S. (California Univ. Berkeley, CA, United States)
Date Acquired
September 6, 2013
Publication Date
July 1, 1987
Publication Information
Publication: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 2
Subject Category
Computer Programming And Software
Accession Number
89N26538
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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