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Hierarchical control of intelligent machines applied to space station telerobotsA hierarchical architecture is described which supports space station telerobots in a variety of modes. The system is divided into three hierarchies: task decomposition, world model, and sensory processing. Goals at each level of the task decomposition hierarchy are divided both spatially and temporally into simpler commands for the next lower level. This decomposition is repeated until, at the lowest level, the drive signals to the robot actuators are generated. To accomplish its goals, task decomposition modules must often use information stored in the world model. The purpose of the sensory system is to update the world model as rapidly as possible to keep the model in registration with the physical world. The architecture of the entire control system hierarchy and how it can be applied to space telerobot applications are discussed.
Document ID
19890017100
Acquisition Source
Legacy CDMS
Document Type
Conference Paper
Authors
Albus, J. S. (National Bureau of Standards Gaithersburg, MD, United States)
Lumia, R. (National Bureau of Standards Gaithersburg, MD, United States)
Mccain, H. (National Bureau of Standards Gaithersburg, MD, United States)
Date Acquired
September 6, 2013
Publication Date
July 1, 1987
Publication Information
Publication: Jet Propulsion Lab., California Inst. of Tech., Proceedings of the Workshop on Space Telerobotics, Volume 1
Subject Category
Cybernetics
Accession Number
89N26471
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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