R & D Profile Jet Propulsion Laboratory Robotic Facilities and Associated Research

摘要

SUMMARY This paper describes the robotics facilities and associated research program of the Jet Propulsion Laboratory, lead center in telerobotics for the United States National Aeronautics and Space Administration. Emphasis is placed on evolution from teleoperation to remote System automation. Research is described in manipulator modelling and control, real-time planning and monitoring, navigation in outdoor terrain, real-time sensing and perception, human-machine interface, and overall System architectures. Applications to NASA missions emphasize robotic spacecraft for solar System exploration, satellite servicing and retrieval, assembly of structures, and surveillance. Applications to military missions include battlefield navigation, surveillance, logistics, command and control.