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Vogel Cooperative Behaviour Between Autonomous Agents Toshio Fukuda, Kosuke Sekiyama Mobile Manipulator Systems Oussama Khatib [...]... "catching a free-floating object from ground" Hand-camera images were processed on ground in real-time to yield "measured" object poses and to compare them with estimates as issued by an extended Kalman filter that simulated the up- and down-link delays as well as robot and free-flyer 114 models (Fig 8) This Kalman filter predicted the situation that would occur in the spacecraft after the up-link delay had... minto [ ;ystem forc~ I t~ues Fig 15 Path-only-teach-in with robot mounted 6 dof controller 111 human eve ~ '~ forces I torques [robot r | tral~ into I' rNHHNH transC°~rdrmn~tlen I J -I on,o,, I' ertial i I fli n ! tJ rob i-f'] i ~ ~'~,'~,q- I~ ~ exeaed by ~ L ~perat°r ~ [tJ urn~dj2:~ / i i /" /" -" " Fig 16 Simultaneous path-force-torque-teach-in with fixed 6 dof controller III I forces I torques... robots, but also for the first 3D-graphics system that came onto the market at that time 1985 DLR's developer group succeeded in designing a much cheaper optical measuring system (Fig 10) The new system used 6 one-dimensional position detectors and received a worldwide patent [ t6] The basic principle is shown in Fig 10 The measuring system consists of an inner and an outer part The measuring arrangement... with the palm (which easily happens in case of the ball form) yields highest sensitivity and dynamics With more than 12.000 installations, the device has become the most popular 3Dinput device for 3D-graphics and 3D-CAD in Europe, and our US-license-company LOGITECH is going to make it the world-standard for 3D-graphics interfaces But interestingly enough, SPACE MOUSE has now returned back into its... be commanded stationarily somewhat "behind" a rigid surface x~nvin the environment, the final position x~ not being identical to the master position xm 107 fine p a t h gross generation path generation I 2r I I I on board ¢m ~-a.nd J ~ 9"olmlcg gros commands •q pragramming menue ¢ontra stlreo-TV I I ~, ~-~ _L~ I ' - -' a ,~l~*d I / 1 I Fig 6 Overall loop structures for a sensor-based telerobotic... ball handle approximately coinciding with the measuring center of an integrated 6 dof force/torque sensor patented in Europe and US [ 15] The concepts developed and patented at that time did not only include the simple, remote 6 dof control (Fig 14), but also the simultaneous programming of forces and torques via an additional wrist force-torque sensor and appropriate control loops (Fig 16) And an... the LED-slit-basis The springs bring the inner part back to a neutral position when no forces/torque are exerted There is a particularly simple and unique transformation from PSD-signals U~ U6 to the unknown displacements The whole electronics including computational processing on a one-chip-processor was already integrable into the ball In the early nineties we redesigned the control ball idea with... I | Fig 17 Simultaneous path-force-torque-teach-in with robot mounted 6 dof controller 4 R O T E X - a first E u r o p e a n step into space robotics Main features ROTEX, flying with shuttle COLUMBIA (spacelab D2) in April 93, was the first remotely controlled space robot Its main features were [ 18 ]: • • A small, six-axis robot (working space -1 m) flew inside a space-lab rack (Fig 22) Its gripper... sensory feedback at the robot's site, by which gross commands (from human operators or path planners) were refined autonomously ! -i Fig 19 The ROTEX telerobotic control structures The uniform man-machine-interface on board and on ground allowing to command ,,dual" (i.e rate and force-torque) information, was DLR's control ball, a predecessor of the SPACE MOUSE (Fig 11) Any operation like... constraint-frame- and sensor-type-configuration holds (to be selected by the operator) Thus, active compliance as well as hybrid (pseudo-)force control were realised locally Feedback to the operator - in case of on-line teleoperation - was provided via ~te visual system, i.e for the astronaut via stereo TV images, for the ground operator mainly via predictive stereo graphics compensating signal delays . into the control structures of these telero- botic systems. ROTEX - the first remotely controlled robot in space - proved the efficiency of the telerobotic concepts available today. And it. [44] Wong L, Takemori T, Siegel M 1989 Gas Identification System using Graded Temperature Sensor and Neural Net Interpretation. Tech. Rep. CMU-RI-TR- 2 0-8 9, The Robotics Institute - Carnegie. that the computational viewpoint is identical to the real one, and that the real world is close to the virtual one. Other than that it may be sufficient in many cases to overlay the predicted