Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations

TitleCompliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations
Publication TypeConference Proceedings
Year of Conference2011
AuthorsDong, S., P. Conrad, J. A. Shah, B. Williams, D. Mittman, M. Ingham, and V. Verma
Conference NameAIAA Infotech@Aerospace
Date Published06/2011
Abstract

We introduce a novel task execution capability that enhances the ability of in-situ crew
members to function independently from Earth by enabling safe and efficient interaction
with automated systems. This task execution capability provides the ability to (1) map
goal-directed commands from humans into safe, compliant, automated actions, (2) quickly
and safely respond to human commands and actions during task execution, and (3) specify
complex motions through teaching by demonstration. Our results are applicable to future
surface robotic systems, and we have demonstrated these capabilities on JPL’s All-Terrain
Hex-Limbed Extra-Terrestrial Explorer (ATHLETE) robot.