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

Title	Compliant Task Execution and Learning for Safe Mixed-Initiative Human-Robot Operations
Publication Type	Conference Proceedings
Year of Conference	2011
Authors	Dong, S., P. Conrad, J. A. Shah, B. Williams, D. Mittman, M. Ingham, and V. Verma
Conference Name	AIAA Infotech@Aerospace (I@A)
Date Published	06/2011
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.