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Title: Compliant task execution and learning for safe mixed-initiative human-robot operations
Authors: Dong, Shuonan
Conrad, Patrick R.
Shah, Julie A.
Williams, Brian C.
Mittman, David S.
Ingham, Michel D.
Verma, Vandana
Keywords: multi-agent collaboration
arbitrary choices
next generation robotics
Issue Date: 29-Mar-2011
Publisher: Pasadena, CA : Jet Propulsion Laboratory, National Aeronautics and Space Administration, 2011.
Citation: Infotech@Aerospace 2011, St. Loius, Missouri, March 23-30, 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 e cient 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.
Appears in Collections:JPL TRS 1992+

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