Welcome to
the Robotics Forum
Issues and comments relating to
this technology are posted here in an effort to initiate discussions and
express opinions. Issues of interest in the near term include:
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Controls Architecture: Teleoperation
control, Semi-autonomous, Autonomous.
One scenario is to divide control
architecture into two complimentary functions, Teleoperator and Systems
operator. Teleoperator would control robot manipulations using exoskeleton
"body motion simulator" and video input from cameras mounted in robot "head"
area. The Systems operator would monitor external robot motions of
arms and hands for collisions, actuator current levels, finger force levels,
robot joint calibration and error recoveries.
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Operating system selection for lower
level and upper level motion control.
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Voice initiated command and response
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Software and controls scheme to enable
voice recognition and manipulator response.
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Software and controls scheme to enable
information storage and retrieval.
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Vision system, camera to goggle interface
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Video camera: compact, autofocus, zoom,
color.
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Video goggles: acceptable resolution,
color, and virtual immersion "being there".
