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Title: Autonomous, teleoperated, and shared control of robot systems

Abstract

This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different ``grids`` of SMART icons, where each icon represents a portion of run-time code that implements a passive control law. By placing strict requirements on the module`s input-output behavior and using scattering theory to develop a passive sampling technique, a flexible, expandable telerobot architecture is achieved. An automatic code generation tool for generating SMART systems is also described.

Authors:
Publication Date:
Research Org.:
Sandia National Labs., Albuquerque, NM (United States)
Sponsoring Org.:
USDOE, Washington, DC (United States)
OSTI Identifier:
211587
Report Number(s):
SAND-94-3189C; CONF-960448-10
ON: DE96006410
DOE Contract Number:  
AC04-94AL85000
Resource Type:
Conference
Resource Relation:
Conference: IEEE international conference on robotics and automation, Minneapolis, MN (United States), 22-28 Apr 1996; Other Information: PBD: [1994]
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING NOT INCLUDED IN OTHER CATEGORIES; ROBOTS; REMOTE CONTROL; DEGREES OF FREEDOM; NAVIGATION; TELEMETRY; TASK SCHEDULING; AUTOMATION; COMPUTERIZED CONTROL SYSTEMS; POSITIONING

Citation Formats

Anderson, R J. Autonomous, teleoperated, and shared control of robot systems. United States: N. p., 1994. Web.
Anderson, R J. Autonomous, teleoperated, and shared control of robot systems. United States.
Anderson, R J. Sat . "Autonomous, teleoperated, and shared control of robot systems". United States. https://www.osti.gov/servlets/purl/211587.
@article{osti_211587,
title = {Autonomous, teleoperated, and shared control of robot systems},
author = {Anderson, R J},
abstractNote = {This paper illustrates how different modes of operation such as bilateral teleoperation, autonomous control, and shared control can be described and implemented using combinations of modules in the SMART robot control architecture. Telerobotics modes are characterized by different ``grids`` of SMART icons, where each icon represents a portion of run-time code that implements a passive control law. By placing strict requirements on the module`s input-output behavior and using scattering theory to develop a passive sampling technique, a flexible, expandable telerobot architecture is achieved. An automatic code generation tool for generating SMART systems is also described.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {1994},
month = {12}
}

Conference:
Other availability
Please see Document Availability for additional information on obtaining the full-text document. Library patrons may search WorldCat to identify libraries that hold this conference proceeding.

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