1 00:00:00,079 --> 00:00:04,970 as part of the NASA teller robotics 2 00:00:04,970 --> 00:00:04,980 as part of the NASA teller robotics 3 00:00:04,980 --> 00:00:07,730 as part of the NASA teller robotics program the Jet Propulsion Laboratory is 4 00:00:07,730 --> 00:00:07,740 program the Jet Propulsion Laboratory is 5 00:00:07,740 --> 00:00:09,980 program the Jet Propulsion Laboratory is pursuing advanced technology and remote 6 00:00:09,980 --> 00:00:09,990 pursuing advanced technology and remote 7 00:00:09,990 --> 00:00:12,520 pursuing advanced technology and remote manipulation in to discipline areas 8 00:00:12,520 --> 00:00:12,530 manipulation in to discipline areas 9 00:00:12,530 --> 00:00:16,390 manipulation in to discipline areas tella operation and supervise Donna me 10 00:00:16,390 --> 00:00:16,400 tella operation and supervise Donna me 11 00:00:16,400 --> 00:00:19,849 tella operation and supervise Donna me intelli operation an operator uses hand 12 00:00:19,849 --> 00:00:19,859 intelli operation an operator uses hand 13 00:00:19,859 --> 00:00:21,830 intelli operation an operator uses hand controllers to command the robots 14 00:00:21,830 --> 00:00:21,840 controllers to command the robots 15 00:00:21,840 --> 00:00:25,429 controllers to command the robots motions directly in supervised Donna me 16 00:00:25,429 --> 00:00:25,439 motions directly in supervised Donna me 17 00:00:25,439 --> 00:00:27,830 motions directly in supervised Donna me an operator interacts with the system at 18 00:00:27,830 --> 00:00:27,840 an operator interacts with the system at 19 00:00:27,840 --> 00:00:29,900 an operator interacts with the system at a much higher level while relying on the 20 00:00:29,900 --> 00:00:29,910 a much higher level while relying on the 21 00:00:29,910 --> 00:00:31,669 a much higher level while relying on the robots information of the task and 22 00:00:31,669 --> 00:00:31,679 robots information of the task and 23 00:00:31,679 --> 00:00:33,770 robots information of the task and environment to generate its own motion 24 00:00:33,770 --> 00:00:33,780 environment to generate its own motion 25 00:00:33,780 --> 00:00:36,799 environment to generate its own motion commands the results of this research 26 00:00:36,799 --> 00:00:36,809 commands the results of this research 27 00:00:36,809 --> 00:00:39,139 commands the results of this research will help to develop the technologies 28 00:00:39,139 --> 00:00:39,149 will help to develop the technologies 29 00:00:39,149 --> 00:00:41,450 will help to develop the technologies required to fulfill NASA's potential 30 00:00:41,450 --> 00:00:41,460 required to fulfill NASA's potential 31 00:00:41,460 --> 00:00:52,580 required to fulfill NASA's potential future needs 4 space robotics so we 32 00:00:52,580 --> 00:00:52,590 future needs 4 space robotics so we 33 00:00:52,590 --> 00:00:54,260 future needs 4 space robotics so we could we could machine since its 34 00:00:54,260 --> 00:00:54,270 could we could machine since its 35 00:00:54,270 --> 00:00:57,260 could we could machine since its beginning in 1985 the broad objectives 36 00:00:57,260 --> 00:00:57,270 beginning in 1985 the broad objectives 37 00:00:57,270 --> 00:00:59,840 beginning in 1985 the broad objectives of the JPL program have been to develop 38 00:00:59,840 --> 00:00:59,850 of the JPL program have been to develop 39 00:00:59,850 --> 00:01:01,849 of the JPL program have been to develop the robotic technologies that would be 40 00:01:01,849 --> 00:01:01,859 the robotic technologies that would be 41 00:01:01,859 --> 00:01:04,310 the robotic technologies that would be used in space operations and to 42 00:01:04,310 --> 00:01:04,320 used in space operations and to 43 00:01:04,320 --> 00:01:07,399 used in space operations and to integrate them into systems these 44 00:01:07,399 --> 00:01:07,409 integrate them into systems these 45 00:01:07,409 --> 00:01:09,260 integrate them into systems these technologies would be used to increase 46 00:01:09,260 --> 00:01:09,270 technologies would be used to increase 47 00:01:09,270 --> 00:01:11,480 technologies would be used to increase the productivity of astronauts conduct 48 00:01:11,480 --> 00:01:11,490 the productivity of astronauts conduct 49 00:01:11,490 --> 00:01:13,880 the productivity of astronauts conduct operations too dangerous for humans in 50 00:01:13,880 --> 00:01:13,890 operations too dangerous for humans in 51 00:01:13,890 --> 00:01:18,530 operations too dangerous for humans in space or perform boring repetitive tasks 52 00:01:18,530 --> 00:01:18,540 space or perform boring repetitive tasks 53 00:01:18,540 --> 00:01:21,080 space or perform boring repetitive tasks to date the integration of these new 54 00:01:21,080 --> 00:01:21,090 to date the integration of these new 55 00:01:21,090 --> 00:01:23,180 to date the integration of these new technologies has resulted in the 56 00:01:23,180 --> 00:01:23,190 technologies has resulted in the 57 00:01:23,190 --> 00:01:25,190 technologies has resulted in the development of a single robotic system 58 00:01:25,190 --> 00:01:25,200 development of a single robotic system 59 00:01:25,200 --> 00:01:27,520 development of a single robotic system that can operate intelli operation or 60 00:01:27,520 --> 00:01:27,530 that can operate intelli operation or 61 00:01:27,530 --> 00:01:30,200 that can operate intelli operation or supervised dote on ax me in the future 62 00:01:30,200 --> 00:01:30,210 supervised dote on ax me in the future 63 00:01:30,210 --> 00:01:32,510 supervised dote on ax me in the future the system will be able to operate in 64 00:01:32,510 --> 00:01:32,520 the system will be able to operate in 65 00:01:32,520 --> 00:01:34,940 the system will be able to operate in hybrid modes that combine features of 66 00:01:34,940 --> 00:01:34,950 hybrid modes that combine features of 67 00:01:34,950 --> 00:01:39,230 hybrid modes that combine features of both called shared control this teller 68 00:01:39,230 --> 00:01:39,240 both called shared control this teller 69 00:01:39,240 --> 00:01:41,450 both called shared control this teller robotic test facility provides an 70 00:01:41,450 --> 00:01:41,460 robotic test facility provides an 71 00:01:41,460 --> 00:01:43,310 robotic test facility provides an environment for research and development 72 00:01:43,310 --> 00:01:43,320 environment for research and development 73 00:01:43,320 --> 00:01:49,130 environment for research and development of key robotic technologies several 74 00:01:49,130 --> 00:01:49,140 of key robotic technologies several 75 00:01:49,140 --> 00:01:51,800 of key robotic technologies several features will be highlighted tella 76 00:01:51,800 --> 00:01:51,810 features will be highlighted tella 77 00:01:51,810 --> 00:01:54,280 features will be highlighted tella operation with force reflection 78 00:01:54,280 --> 00:01:54,290 operation with force reflection 79 00:01:54,290 --> 00:01:57,700 operation with force reflection autonomous compliance strategies and 80 00:01:57,700 --> 00:01:57,710 autonomous compliance strategies and 81 00:01:57,710 --> 00:02:00,260 autonomous compliance strategies and operator designate to support the 82 00:02:00,260 --> 00:02:00,270 operator designate to support the 83 00:02:00,270 --> 00:02:03,490 operator designate to support the operators use of supervised Donna me 84 00:02:03,490 --> 00:02:03,500 operators use of supervised Donna me 85 00:02:03,500 --> 00:02:06,380 operators use of supervised Donna me this demonstration will simulate the 86 00:02:06,380 --> 00:02:06,390 this demonstration will simulate the 87 00:02:06,390 --> 00:02:08,480 this demonstration will simulate the removal of an orbital replacement unit 88 00:02:08,480 --> 00:02:08,490 removal of an orbital replacement unit 89 00:02:08,490 --> 00:02:11,030 removal of an orbital replacement unit an o are you from an Earth orbiting 90 00:02:11,030 --> 00:02:11,040 an o are you from an Earth orbiting 91 00:02:11,040 --> 00:02:14,720 an o are you from an Earth orbiting satellite an arm will remove the oru and 92 00:02:14,720 --> 00:02:14,730 satellite an arm will remove the oru and 93 00:02:14,730 --> 00:02:16,850 satellite an arm will remove the oru and will then hand it to another manipulator 94 00:02:16,850 --> 00:02:16,860 will then hand it to another manipulator 95 00:02:16,860 --> 00:02:19,040 will then hand it to another manipulator arm which will insert it into a storage 96 00:02:19,040 --> 00:02:19,050 arm which will insert it into a storage 97 00:02:19,050 --> 00:02:22,310 arm which will insert it into a storage rack this sequence represents a portion 98 00:02:22,310 --> 00:02:22,320 rack this sequence represents a portion 99 00:02:22,320 --> 00:02:24,170 rack this sequence represents a portion of an in-flight maintenance operation 100 00:02:24,170 --> 00:02:24,180 of an in-flight maintenance operation 101 00:02:24,180 --> 00:02:25,790 of an in-flight maintenance operation similar to those which will be performed 102 00:02:25,790 --> 00:02:25,800 similar to those which will be performed 103 00:02:25,800 --> 00:02:29,390 similar to those which will be performed on the space station this demonstration 104 00:02:29,390 --> 00:02:29,400 on the space station this demonstration 105 00:02:29,400 --> 00:02:31,430 on the space station this demonstration utilizes a combination of tella 106 00:02:31,430 --> 00:02:31,440 utilizes a combination of tella 107 00:02:31,440 --> 00:02:33,789 utilizes a combination of tella operation and supervised dote on ax me 108 00:02:33,789 --> 00:02:33,799 operation and supervised dote on ax me 109 00:02:33,799 --> 00:02:36,860 operation and supervised dote on ax me these two manipulators left and right 110 00:02:36,860 --> 00:02:36,870 these two manipulators left and right 111 00:02:36,870 --> 00:02:39,020 these two manipulators left and right arms are used for grasping and 112 00:02:39,020 --> 00:02:39,030 arms are used for grasping and 113 00:02:39,030 --> 00:02:41,630 arms are used for grasping and manipulating objects this third 114 00:02:41,630 --> 00:02:41,640 manipulating objects this third 115 00:02:41,640 --> 00:02:44,090 manipulating objects this third manipulator is the camera arm and is 116 00:02:44,090 --> 00:02:44,100 manipulator is the camera arm and is 117 00:02:44,100 --> 00:02:46,720 manipulator is the camera arm and is used to position and orient four cameras 118 00:02:46,720 --> 00:02:46,730 used to position and orient four cameras 119 00:02:46,730 --> 00:02:49,850 used to position and orient four cameras these four cameras combined with three 120 00:02:49,850 --> 00:02:49,860 these four cameras combined with three 121 00:02:49,860 --> 00:02:52,250 these four cameras combined with three wing cameras provide the operator with 122 00:02:52,250 --> 00:02:52,260 wing cameras provide the operator with 123 00:02:52,260 --> 00:03:00,450 wing cameras provide the operator with multiple views of the workspace 124 00:03:00,450 --> 00:03:00,460 125 00:03:00,460 --> 00:03:02,790 two of these cameras are used to provide 126 00:03:02,790 --> 00:03:02,800 two of these cameras are used to provide 127 00:03:02,800 --> 00:03:05,040 two of these cameras are used to provide the operator with a color 3d stereo 128 00:03:05,040 --> 00:03:05,050 the operator with a color 3d stereo 129 00:03:05,050 --> 00:03:11,460 the operator with a color 3d stereo display this truss structure simulates 130 00:03:11,460 --> 00:03:11,470 display this truss structure simulates 131 00:03:11,470 --> 00:03:13,470 display this truss structure simulates the body of a satellite or the space 132 00:03:13,470 --> 00:03:13,480 the body of a satellite or the space 133 00:03:13,480 --> 00:03:15,750 the body of a satellite or the space station and supports a mock-up of a no 134 00:03:15,750 --> 00:03:15,760 station and supports a mock-up of a no 135 00:03:15,760 --> 00:03:18,450 station and supports a mock-up of a no are you to simulate the uncertainties 136 00:03:18,450 --> 00:03:18,460 are you to simulate the uncertainties 137 00:03:18,460 --> 00:03:20,040 are you to simulate the uncertainties that may exist in the space environment 138 00:03:20,040 --> 00:03:20,050 that may exist in the space environment 139 00:03:20,050 --> 00:03:22,830 that may exist in the space environment the initial location of the trust is not 140 00:03:22,830 --> 00:03:22,840 the initial location of the trust is not 141 00:03:22,840 --> 00:03:27,120 the initial location of the trust is not known to the robot beforehand the module 142 00:03:27,120 --> 00:03:27,130 known to the robot beforehand the module 143 00:03:27,130 --> 00:03:29,640 known to the robot beforehand the module represents an o are you and has to 144 00:03:29,640 --> 00:03:29,650 represents an o are you and has to 145 00:03:29,650 --> 00:03:33,180 represents an o are you and has to grapple lugs the robot carries a picture 146 00:03:33,180 --> 00:03:33,190 grapple lugs the robot carries a picture 147 00:03:33,190 --> 00:03:35,880 grapple lugs the robot carries a picture of this module in its database however 148 00:03:35,880 --> 00:03:35,890 of this module in its database however 149 00:03:35,890 --> 00:03:38,730 of this module in its database however one of the grapple lugs the left one has 150 00:03:38,730 --> 00:03:38,740 one of the grapple lugs the left one has 151 00:03:38,740 --> 00:03:40,770 one of the grapple lugs the left one has been intentionally misaligned to 152 00:03:40,770 --> 00:03:40,780 been intentionally misaligned to 153 00:03:40,780 --> 00:03:42,690 been intentionally misaligned to simulate a modelling error the 154 00:03:42,690 --> 00:03:42,700 simulate a modelling error the 155 00:03:42,700 --> 00:03:44,610 simulate a modelling error the experiment will show how the robot deals 156 00:03:44,610 --> 00:03:44,620 experiment will show how the robot deals 157 00:03:44,620 --> 00:03:48,180 experiment will show how the robot deals with this in addition a cylinder has 158 00:03:48,180 --> 00:03:48,190 with this in addition a cylinder has 159 00:03:48,190 --> 00:03:50,040 with this in addition a cylinder has been placed around the grapple lug to 160 00:03:50,040 --> 00:03:50,050 been placed around the grapple lug to 161 00:03:50,050 --> 00:03:51,930 been placed around the grapple lug to simulate occluded viewing conditions 162 00:03:51,930 --> 00:03:51,940 simulate occluded viewing conditions 163 00:03:51,940 --> 00:03:54,750 simulate occluded viewing conditions that might be expected in space the two 164 00:03:54,750 --> 00:03:54,760 that might be expected in space the two 165 00:03:54,760 --> 00:03:56,910 that might be expected in space the two arms used for grasping have wrist 166 00:03:56,910 --> 00:03:56,920 arms used for grasping have wrist 167 00:03:56,920 --> 00:03:59,370 arms used for grasping have wrist sensors which detect forces and torques 168 00:03:59,370 --> 00:03:59,380 sensors which detect forces and torques 169 00:03:59,380 --> 00:04:01,770 sensors which detect forces and torques the information received from these 170 00:04:01,770 --> 00:04:01,780 the information received from these 171 00:04:01,780 --> 00:04:04,350 the information received from these sensors is used in force reflection and 172 00:04:04,350 --> 00:04:04,360 sensors is used in force reflection and 173 00:04:04,360 --> 00:04:08,940 sensors is used in force reflection and compliance because the position of the 174 00:04:08,940 --> 00:04:08,950 compliance because the position of the 175 00:04:08,950 --> 00:04:11,040 compliance because the position of the trust is not known to the robot at the 176 00:04:11,040 --> 00:04:11,050 trust is not known to the robot at the 177 00:04:11,050 --> 00:04:13,230 trust is not known to the robot at the beginning the operator will first need 178 00:04:13,230 --> 00:04:13,240 beginning the operator will first need 179 00:04:13,240 --> 00:04:15,540 beginning the operator will first need to determine where the actual oru is 180 00:04:15,540 --> 00:04:15,550 to determine where the actual oru is 181 00:04:15,550 --> 00:04:19,710 to determine where the actual oru is located the operator begins the task by 182 00:04:19,710 --> 00:04:19,720 located the operator begins the task by 183 00:04:19,720 --> 00:04:21,660 located the operator begins the task by using a procedure called operator 184 00:04:21,660 --> 00:04:21,670 using a procedure called operator 185 00:04:21,670 --> 00:04:23,850 using a procedure called operator designate to determine the position of 186 00:04:23,850 --> 00:04:23,860 designate to determine the position of 187 00:04:23,860 --> 00:04:26,550 designate to determine the position of the module body when the module body is 188 00:04:26,550 --> 00:04:26,560 the module body when the module body is 189 00:04:26,560 --> 00:04:28,770 the module body when the module body is located the position of the grapple lug 190 00:04:28,770 --> 00:04:28,780 located the position of the grapple lug 191 00:04:28,780 --> 00:04:30,480 located the position of the grapple lug can be determined from the picture of 192 00:04:30,480 --> 00:04:30,490 can be determined from the picture of 193 00:04:30,490 --> 00:04:32,130 can be determined from the picture of the module carried in the robots 194 00:04:32,130 --> 00:04:32,140 the module carried in the robots 195 00:04:32,140 --> 00:04:34,470 the module carried in the robots database even though the grapple lug 196 00:04:34,470 --> 00:04:34,480 database even though the grapple lug 197 00:04:34,480 --> 00:04:37,800 database even though the grapple lug cannot be seen on two monitors each 198 00:04:37,800 --> 00:04:37,810 cannot be seen on two monitors each 199 00:04:37,810 --> 00:04:40,230 cannot be seen on two monitors each showing a slightly different view the 200 00:04:40,230 --> 00:04:40,240 showing a slightly different view the 201 00:04:40,240 --> 00:04:42,450 showing a slightly different view the operator overlays a line drawing of the 202 00:04:42,450 --> 00:04:42,460 operator overlays a line drawing of the 203 00:04:42,460 --> 00:04:46,920 operator overlays a line drawing of the module the operator then specifies the 204 00:04:46,920 --> 00:04:46,930 module the operator then specifies the 205 00:04:46,930 --> 00:04:49,170 module the operator then specifies the true locations of several corners of the 206 00:04:49,170 --> 00:04:49,180 true locations of several corners of the 207 00:04:49,180 --> 00:04:51,540 true locations of several corners of the module body by indicating which corner 208 00:04:51,540 --> 00:04:51,550 module body by indicating which corner 209 00:04:51,550 --> 00:04:53,730 module body by indicating which corner of the overlay corresponds to which 210 00:04:53,730 --> 00:04:53,740 of the overlay corresponds to which 211 00:04:53,740 --> 00:04:58,159 of the overlay corresponds to which corner of the video image 212 00:04:58,159 --> 00:04:58,169 213 00:04:58,169 --> 00:05:01,709 no object location based on four point 214 00:05:01,709 --> 00:05:01,719 no object location based on four point 215 00:05:01,719 --> 00:05:03,689 no object location based on four point because the camera images have been 216 00:05:03,689 --> 00:05:03,699 because the camera images have been 217 00:05:03,699 --> 00:05:06,089 because the camera images have been carefully calibrated this information 218 00:05:06,089 --> 00:05:06,099 carefully calibrated this information 219 00:05:06,099 --> 00:05:07,859 carefully calibrated this information can be used to update the robots 220 00:05:07,859 --> 00:05:07,869 can be used to update the robots 221 00:05:07,869 --> 00:05:16,889 can be used to update the robots database 78.6 new object location based 222 00:05:16,889 --> 00:05:16,899 database 78.6 new object location based 223 00:05:16,899 --> 00:05:19,619 database 78.6 new object location based on eight points with the modules 224 00:05:19,619 --> 00:05:19,629 on eight points with the modules 225 00:05:19,629 --> 00:05:21,659 on eight points with the modules accurate position stored in its database 226 00:05:21,659 --> 00:05:21,669 accurate position stored in its database 227 00:05:21,669 --> 00:05:24,329 accurate position stored in its database the robot can then locate the grapple 228 00:05:24,329 --> 00:05:24,339 the robot can then locate the grapple 229 00:05:24,339 --> 00:05:31,289 the robot can then locate the grapple luck with this accomplished the system 230 00:05:31,289 --> 00:05:31,299 luck with this accomplished the system 231 00:05:31,299 --> 00:05:33,299 luck with this accomplished the system then moves the left arm toward the left 232 00:05:33,299 --> 00:05:33,309 then moves the left arm toward the left 233 00:05:33,309 --> 00:05:40,850 then moves the left arm toward the left grapple ugh for the grasping operation 234 00:05:40,850 --> 00:05:40,860 235 00:05:40,860 --> 00:05:44,219 actually gripper on remote site using 236 00:05:44,219 --> 00:05:44,229 actually gripper on remote site using 237 00:05:44,229 --> 00:05:47,759 actually gripper on remote site using left term moving the arm too near the 238 00:05:47,759 --> 00:05:47,769 left term moving the arm too near the 239 00:05:47,769 --> 00:05:50,339 left term moving the arm too near the object this is the lug that was 240 00:05:50,339 --> 00:05:50,349 object this is the lug that was 241 00:05:50,349 --> 00:05:53,429 object this is the lug that was intentionally misaligned using active 242 00:05:53,429 --> 00:05:53,439 intentionally misaligned using active 243 00:05:53,439 --> 00:05:55,499 intentionally misaligned using active compliance the left arm gently and 244 00:05:55,499 --> 00:05:55,509 compliance the left arm gently and 245 00:05:55,509 --> 00:05:57,629 compliance the left arm gently and autonomously moves in several directions 246 00:05:57,629 --> 00:05:57,639 autonomously moves in several directions 247 00:05:57,639 --> 00:05:59,909 autonomously moves in several directions to accommodate the misalignment and 248 00:05:59,909 --> 00:05:59,919 to accommodate the misalignment and 249 00:05:59,919 --> 00:06:02,189 to accommodate the misalignment and allow the grasping action to be 250 00:06:02,189 --> 00:06:02,199 allow the grasping action to be 251 00:06:02,199 --> 00:06:05,040 allow the grasping action to be completed actually a dripper on remote 252 00:06:05,040 --> 00:06:05,050 completed actually a dripper on remote 253 00:06:05,050 --> 00:06:15,570 completed actually a dripper on remote sites using left turn 254 00:06:15,570 --> 00:06:15,580 255 00:06:15,580 --> 00:06:19,170 since October 1989 the speed with which 256 00:06:19,170 --> 00:06:19,180 since October 1989 the speed with which 257 00:06:19,180 --> 00:06:21,689 since October 1989 the speed with which these operations can be performed has 258 00:06:21,689 --> 00:06:21,699 these operations can be performed has 259 00:06:21,699 --> 00:06:24,420 these operations can be performed has been increased by a factor of three this 260 00:06:24,420 --> 00:06:24,430 been increased by a factor of three this 261 00:06:24,430 --> 00:06:26,040 been increased by a factor of three this is because we have introduced the 262 00:06:26,040 --> 00:06:26,050 is because we have introduced the 263 00:06:26,050 --> 00:06:27,899 is because we have introduced the capability to plan actions at the 264 00:06:27,899 --> 00:06:27,909 capability to plan actions at the 265 00:06:27,909 --> 00:06:30,050 capability to plan actions at the operators site while simultaneously 266 00:06:30,050 --> 00:06:30,060 operators site while simultaneously 267 00:06:30,060 --> 00:06:32,640 operators site while simultaneously executing other commands at the remote 268 00:06:32,640 --> 00:06:32,650 executing other commands at the remote 269 00:06:32,650 --> 00:06:36,899 executing other commands at the remote site intelli operation the operator uses 270 00:06:36,899 --> 00:06:36,909 site intelli operation the operator uses 271 00:06:36,909 --> 00:06:39,089 site intelli operation the operator uses the force reflecting hand controllers 272 00:06:39,089 --> 00:06:39,099 the force reflecting hand controllers 273 00:06:39,099 --> 00:06:41,850 the force reflecting hand controllers and looks at the 3d display to view the 274 00:06:41,850 --> 00:06:41,860 and looks at the 3d display to view the 275 00:06:41,860 --> 00:06:43,770 and looks at the 3d display to view the workspace while he removes and 276 00:06:43,770 --> 00:06:43,780 workspace while he removes and 277 00:06:43,780 --> 00:06:47,219 workspace while he removes and transports the module dr. Henry stone a 278 00:06:47,219 --> 00:06:47,229 transports the module dr. Henry stone a 279 00:06:47,229 --> 00:06:49,350 transports the module dr. Henry stone a force reflection is a mode of tele 280 00:06:49,350 --> 00:06:49,360 force reflection is a mode of tele 281 00:06:49,360 --> 00:06:51,959 force reflection is a mode of tele operation in which the forces that are 282 00:06:51,959 --> 00:06:51,969 operation in which the forces that are 283 00:06:51,969 --> 00:06:54,719 operation in which the forces that are sensed at the end effector of the arm 284 00:06:54,719 --> 00:06:54,729 sensed at the end effector of the arm 285 00:06:54,729 --> 00:06:57,480 sensed at the end effector of the arm are reflected back to one of these hand 286 00:06:57,480 --> 00:06:57,490 are reflected back to one of these hand 287 00:06:57,490 --> 00:07:00,719 are reflected back to one of these hand controllers here and that provides the 288 00:07:00,719 --> 00:07:00,729 controllers here and that provides the 289 00:07:00,729 --> 00:07:03,689 controllers here and that provides the operator with a sensation of contact 290 00:07:03,689 --> 00:07:03,699 operator with a sensation of contact 291 00:07:03,699 --> 00:07:06,420 operator with a sensation of contact with the environment should the geometry 292 00:07:06,420 --> 00:07:06,430 with the environment should the geometry 293 00:07:06,430 --> 00:07:08,430 with the environment should the geometry prevent the left arm from storing the 294 00:07:08,430 --> 00:07:08,440 prevent the left arm from storing the 295 00:07:08,440 --> 00:07:10,439 prevent the left arm from storing the module the module would have to be 296 00:07:10,439 --> 00:07:10,449 module the module would have to be 297 00:07:10,449 --> 00:07:19,589 module the module would have to be handed off to the right arm in this case 298 00:07:19,589 --> 00:07:19,599 handed off to the right arm in this case 299 00:07:19,599 --> 00:07:22,260 handed off to the right arm in this case the left arm holds the module and the 300 00:07:22,260 --> 00:07:22,270 the left arm holds the module and the 301 00:07:22,270 --> 00:07:24,240 the left arm holds the module and the right arm performs a grasp sequence 302 00:07:24,240 --> 00:07:24,250 right arm performs a grasp sequence 303 00:07:24,250 --> 00:07:27,450 right arm performs a grasp sequence identical to that just executed we have 304 00:07:27,450 --> 00:07:27,460 identical to that just executed we have 305 00:07:27,460 --> 00:07:29,399 identical to that just executed we have not placed a cylinder around the right 306 00:07:29,399 --> 00:07:29,409 not placed a cylinder around the right 307 00:07:29,409 --> 00:07:31,559 not placed a cylinder around the right grapple ugh so we can provide a better 308 00:07:31,559 --> 00:07:31,569 grapple ugh so we can provide a better 309 00:07:31,569 --> 00:07:33,659 grapple ugh so we can provide a better view of the upcoming autonomous error 310 00:07:33,659 --> 00:07:33,669 view of the upcoming autonomous error 311 00:07:33,669 --> 00:07:36,600 view of the upcoming autonomous error recovery sequence because the left 312 00:07:36,600 --> 00:07:36,610 recovery sequence because the left 313 00:07:36,610 --> 00:07:39,119 recovery sequence because the left grapple ugh was misaligned the actual 314 00:07:39,119 --> 00:07:39,129 grapple ugh was misaligned the actual 315 00:07:39,129 --> 00:07:40,950 grapple ugh was misaligned the actual position of the right grapple lug is 316 00:07:40,950 --> 00:07:40,960 position of the right grapple lug is 317 00:07:40,960 --> 00:07:42,930 position of the right grapple lug is significantly different than the robots 318 00:07:42,930 --> 00:07:42,940 significantly different than the robots 319 00:07:42,940 --> 00:07:45,990 significantly different than the robots model would predict this causes the 320 00:07:45,990 --> 00:07:46,000 model would predict this causes the 321 00:07:46,000 --> 00:07:51,510 model would predict this causes the automated grasp to fail the operator is 322 00:07:51,510 --> 00:07:51,520 automated grasp to fail the operator is 323 00:07:51,520 --> 00:07:53,579 automated grasp to fail the operator is informed of the failure and decides to 324 00:07:53,579 --> 00:07:53,589 informed of the failure and decides to 325 00:07:53,589 --> 00:07:55,649 informed of the failure and decides to check the database by displaying the 326 00:07:55,649 --> 00:07:55,659 check the database by displaying the 327 00:07:55,659 --> 00:07:57,149 check the database by displaying the image of the module on the video 328 00:07:57,149 --> 00:07:57,159 image of the module on the video 329 00:07:57,159 --> 00:08:01,200 image of the module on the video monitors the error is apparent because 330 00:08:01,200 --> 00:08:01,210 monitors the error is apparent because 331 00:08:01,210 --> 00:08:03,450 monitors the error is apparent because the right grapple lug line image on the 332 00:08:03,450 --> 00:08:03,460 the right grapple lug line image on the 333 00:08:03,460 --> 00:08:05,430 the right grapple lug line image on the video monitor and the module do not 334 00:08:05,430 --> 00:08:05,440 video monitor and the module do not 335 00:08:05,440 --> 00:08:08,219 video monitor and the module do not coincide the operator can see that the 336 00:08:08,219 --> 00:08:08,229 coincide the operator can see that the 337 00:08:08,229 --> 00:08:10,320 coincide the operator can see that the cause of the failure is due to the Miss 338 00:08:10,320 --> 00:08:10,330 cause of the failure is due to the Miss 339 00:08:10,330 --> 00:08:13,829 cause of the failure is due to the Miss positioning of this grapple ugh to 340 00:08:13,829 --> 00:08:13,839 positioning of this grapple ugh to 341 00:08:13,839 --> 00:08:16,079 positioning of this grapple ugh to recover from this failure the operator 342 00:08:16,079 --> 00:08:16,089 recover from this failure the operator 343 00:08:16,089 --> 00:08:18,600 recover from this failure the operator again chooses object designation to 344 00:08:18,600 --> 00:08:18,610 again chooses object designation to 345 00:08:18,610 --> 00:08:21,050 again chooses object designation to correct and update the database model 346 00:08:21,050 --> 00:08:21,060 correct and update the database model 347 00:08:21,060 --> 00:08:23,369 correct and update the database model with this new information in the 348 00:08:23,369 --> 00:08:23,379 with this new information in the 349 00:08:23,379 --> 00:08:25,709 with this new information in the database the operator execute the 350 00:08:25,709 --> 00:08:25,719 database the operator execute the 351 00:08:25,719 --> 00:08:27,570 database the operator execute the autonomous sequence successfully and 352 00:08:27,570 --> 00:08:27,580 autonomous sequence successfully and 353 00:08:27,580 --> 00:08:31,879 autonomous sequence successfully and grasps the module 354 00:08:31,879 --> 00:08:31,889 355 00:08:31,889 --> 00:08:34,889 the operator uses tella operation to 356 00:08:34,889 --> 00:08:34,899 the operator uses tella operation to 357 00:08:34,899 --> 00:08:37,110 the operator uses tella operation to release the left side of the module and 358 00:08:37,110 --> 00:08:37,120 release the left side of the module and 359 00:08:37,120 --> 00:08:46,410 release the left side of the module and move the left arm away the operator also 360 00:08:46,410 --> 00:08:46,420 move the left arm away the operator also 361 00:08:46,420 --> 00:08:48,449 move the left arm away the operator also uses tella operation to move the right 362 00:08:48,449 --> 00:08:48,459 uses tella operation to move the right 363 00:08:48,459 --> 00:08:50,639 uses tella operation to move the right arm inserting the module into its 364 00:08:50,639 --> 00:08:50,649 arm inserting the module into its 365 00:08:50,649 --> 00:08:53,189 arm inserting the module into its storage location and completing the oru 366 00:08:53,189 --> 00:08:53,199 storage location and completing the oru 367 00:08:53,199 --> 00:08:58,769 storage location and completing the oru removal task in addition to tella 368 00:08:58,769 --> 00:08:58,779 removal task in addition to tella 369 00:08:58,779 --> 00:09:01,470 removal task in addition to tella operation and supervised Donna me this 370 00:09:01,470 --> 00:09:01,480 operation and supervised Donna me this 371 00:09:01,480 --> 00:09:03,809 operation and supervised Donna me this system is also capable of combining the 372 00:09:03,809 --> 00:09:03,819 system is also capable of combining the 373 00:09:03,819 --> 00:09:06,360 system is also capable of combining the two modes into one called shared control 374 00:09:06,360 --> 00:09:06,370 two modes into one called shared control 375 00:09:06,370 --> 00:09:08,970 two modes into one called shared control at this time it has been partially 376 00:09:08,970 --> 00:09:08,980 at this time it has been partially 377 00:09:08,980 --> 00:09:11,579 at this time it has been partially integrated into the system during shared 378 00:09:11,579 --> 00:09:11,589 integrated into the system during shared 379 00:09:11,589 --> 00:09:13,619 integrated into the system during shared control the operators using the hand 380 00:09:13,619 --> 00:09:13,629 control the operators using the hand 381 00:09:13,629 --> 00:09:16,050 control the operators using the hand controller to basically guide the 382 00:09:16,050 --> 00:09:16,060 controller to basically guide the 383 00:09:16,060 --> 00:09:19,050 controller to basically guide the position of the end effector whereas the 384 00:09:19,050 --> 00:09:19,060 position of the end effector whereas the 385 00:09:19,060 --> 00:09:21,019 position of the end effector whereas the autonomous system at the same time is 386 00:09:21,019 --> 00:09:21,029 autonomous system at the same time is 387 00:09:21,029 --> 00:09:23,249 autonomous system at the same time is controlling forces and torques to 388 00:09:23,249 --> 00:09:23,259 controlling forces and torques to 389 00:09:23,259 --> 00:09:26,100 controlling forces and torques to maintain a particular profile shared 390 00:09:26,100 --> 00:09:26,110 maintain a particular profile shared 391 00:09:26,110 --> 00:09:28,619 maintain a particular profile shared control will now be used to simulate an 392 00:09:28,619 --> 00:09:28,629 control will now be used to simulate an 393 00:09:28,629 --> 00:09:31,639 control will now be used to simulate an optical cleaning task this dome 394 00:09:31,639 --> 00:09:31,649 optical cleaning task this dome 395 00:09:31,649 --> 00:09:35,280 optical cleaning task this dome represents an optical surface the 396 00:09:35,280 --> 00:09:35,290 represents an optical surface the 397 00:09:35,290 --> 00:09:36,929 represents an optical surface the operator sits at the console and 398 00:09:36,929 --> 00:09:36,939 operator sits at the console and 399 00:09:36,939 --> 00:09:39,090 operator sits at the console and commands the arm to grasp the cleaning 400 00:09:39,090 --> 00:09:39,100 commands the arm to grasp the cleaning 401 00:09:39,100 --> 00:09:46,199 commands the arm to grasp the cleaning pad autonomously the operator commands 402 00:09:46,199 --> 00:09:46,209 pad autonomously the operator commands 403 00:09:46,209 --> 00:09:48,269 pad autonomously the operator commands the movements of the pad using a hand 404 00:09:48,269 --> 00:09:48,279 the movements of the pad using a hand 405 00:09:48,279 --> 00:09:51,540 the movements of the pad using a hand controller the autonomous system ensures 406 00:09:51,540 --> 00:09:51,550 controller the autonomous system ensures 407 00:09:51,550 --> 00:09:53,519 controller the autonomous system ensures that the pad follows the contour of the 408 00:09:53,519 --> 00:09:53,529 that the pad follows the contour of the 409 00:09:53,529 --> 00:09:55,679 that the pad follows the contour of the dome and controls the pressure exerted 410 00:09:55,679 --> 00:09:55,689 dome and controls the pressure exerted 411 00:09:55,689 --> 00:09:59,620 dome and controls the pressure exerted on it during this operation 412 00:09:59,620 --> 00:09:59,630 on it during this operation 413 00:09:59,630 --> 00:10:02,260 on it during this operation only the planar motions of the hand 414 00:10:02,260 --> 00:10:02,270 only the planar motions of the hand 415 00:10:02,270 --> 00:10:04,360 only the planar motions of the hand controller that I'm making are being 416 00:10:04,360 --> 00:10:04,370 controller that I'm making are being 417 00:10:04,370 --> 00:10:07,510 controller that I'm making are being mapped into motions of the pad about the 418 00:10:07,510 --> 00:10:07,520 mapped into motions of the pad about the 419 00:10:07,520 --> 00:10:10,390 mapped into motions of the pad about the dome the other degrees of freedom are 420 00:10:10,390 --> 00:10:10,400 dome the other degrees of freedom are 421 00:10:10,400 --> 00:10:12,160 dome the other degrees of freedom are being controlled by the autonomous 422 00:10:12,160 --> 00:10:12,170 being controlled by the autonomous 423 00:10:12,170 --> 00:10:14,860 being controlled by the autonomous system in order to maintain certain 424 00:10:14,860 --> 00:10:14,870 system in order to maintain certain 425 00:10:14,870 --> 00:10:17,410 system in order to maintain certain forces and torques which are required 426 00:10:17,410 --> 00:10:17,420 forces and torques which are required 427 00:10:17,420 --> 00:10:21,310 forces and torques which are required for the actual polishing to occur the 428 00:10:21,310 --> 00:10:21,320 for the actual polishing to occur the 429 00:10:21,320 --> 00:10:23,800 for the actual polishing to occur the demonstrations you have seen represent 430 00:10:23,800 --> 00:10:23,810 demonstrations you have seen represent 431 00:10:23,810 --> 00:10:25,870 demonstrations you have seen represent technologies being advanced to meet the 432 00:10:25,870 --> 00:10:25,880 technologies being advanced to meet the 433 00:10:25,880 --> 00:10:29,890 technologies being advanced to meet the needs of NASA's Space Program these 434 00:10:29,890 --> 00:10:29,900 needs of NASA's Space Program these 435 00:10:29,900 --> 00:10:32,590 needs of NASA's Space Program these demonstrations at the JPL teller robotic 436 00:10:32,590 --> 00:10:32,600 demonstrations at the JPL teller robotic 437 00:10:32,600 --> 00:10:34,540 demonstrations at the JPL teller robotic test facility showed a state-of-the-art 438 00:10:34,540 --> 00:10:34,550 test facility showed a state-of-the-art 439 00:10:34,550 --> 00:10:37,360 test facility showed a state-of-the-art integrated robotic system capable of 440 00:10:37,360 --> 00:10:37,370 integrated robotic system capable of 441 00:10:37,370 --> 00:10:39,010 integrated robotic system capable of performing complex sequences of 442 00:10:39,010 --> 00:10:39,020 performing complex sequences of 443 00:10:39,020 --> 00:10:41,530 performing complex sequences of operations using a mixture of autonomy 444 00:10:41,530 --> 00:10:41,540 operations using a mixture of autonomy 445 00:10:41,540 --> 00:10:44,020 operations using a mixture of autonomy and tella operation where the operator 446 00:10:44,020 --> 00:10:44,030 and tella operation where the operator 447 00:10:44,030 --> 00:10:46,120 and tella operation where the operator has the ability to select the mode which 448 00:10:46,120 --> 00:10:46,130 has the ability to select the mode which 449 00:10:46,130 --> 00:10:49,810 has the ability to select the mode which is best suited for the task at hand in 450 00:10:49,810 --> 00:10:49,820 is best suited for the task at hand in 451 00:10:49,820 --> 00:10:52,570 is best suited for the task at hand in the oru exchange task the system coped 452 00:10:52,570 --> 00:10:52,580 the oru exchange task the system coped 453 00:10:52,580 --> 00:10:54,460 the oru exchange task the system coped with uncertainties and inaccuracies in 454 00:10:54,460 --> 00:10:54,470 with uncertainties and inaccuracies in 455 00:10:54,470 --> 00:10:56,470 with uncertainties and inaccuracies in its database by using the features of 456 00:10:56,470 --> 00:10:56,480 its database by using the features of 457 00:10:56,480 --> 00:10:59,670 its database by using the features of active compliance and operator designate 458 00:10:59,670 --> 00:10:59,680 active compliance and operator designate 459 00:10:59,680 --> 00:11:02,320 active compliance and operator designate operator designate was used to update 460 00:11:02,320 --> 00:11:02,330 operator designate was used to update 461 00:11:02,330 --> 00:11:04,330 operator designate was used to update the position of the oru so that the 462 00:11:04,330 --> 00:11:04,340 the position of the oru so that the 463 00:11:04,340 --> 00:11:07,920 the position of the oru so that the occluded grapple ugh could be found 464 00:11:07,920 --> 00:11:07,930 occluded grapple ugh could be found 465 00:11:07,930 --> 00:11:10,480 occluded grapple ugh could be found active compliance then permitted the 466 00:11:10,480 --> 00:11:10,490 active compliance then permitted the 467 00:11:10,490 --> 00:11:12,610 active compliance then permitted the grapple ugh to be grasped even though it 468 00:11:12,610 --> 00:11:12,620 grapple ugh to be grasped even though it 469 00:11:12,620 --> 00:11:18,400 grapple ugh to be grasped even though it was misaligned later operator designate 470 00:11:18,400 --> 00:11:18,410 was misaligned later operator designate 471 00:11:18,410 --> 00:11:20,890 was misaligned later operator designate was used again to overcome the error in 472 00:11:20,890 --> 00:11:20,900 was used again to overcome the error in 473 00:11:20,900 --> 00:11:22,450 was used again to overcome the error in the assumed position of the right 474 00:11:22,450 --> 00:11:22,460 the assumed position of the right 475 00:11:22,460 --> 00:11:24,730 the assumed position of the right grapple ugh caused by the misalignment 476 00:11:24,730 --> 00:11:24,740 grapple ugh caused by the misalignment 477 00:11:24,740 --> 00:11:30,520 grapple ugh caused by the misalignment of the left one with the operator 478 00:11:30,520 --> 00:11:30,530 of the left one with the operator 479 00:11:30,530 --> 00:11:32,740 of the left one with the operator controlled polishing of the dome we 480 00:11:32,740 --> 00:11:32,750 controlled polishing of the dome we 481 00:11:32,750 --> 00:11:34,630 controlled polishing of the dome we showed one example of where supervised 482 00:11:34,630 --> 00:11:34,640 showed one example of where supervised 483 00:11:34,640 --> 00:11:36,790 showed one example of where supervised Donna me was combined with tella 484 00:11:36,790 --> 00:11:36,800 Donna me was combined with tella 485 00:11:36,800 --> 00:11:38,920 Donna me was combined with tella operation to tailor specific 486 00:11:38,920 --> 00:11:38,930 operation to tailor specific 487 00:11:38,930 --> 00:11:41,080 operation to tailor specific capabilities to specific task 488 00:11:41,080 --> 00:11:41,090 capabilities to specific task 489 00:11:41,090 --> 00:11:43,960 capabilities to specific task requirements this system and the robotic 490 00:11:43,960 --> 00:11:43,970 requirements this system and the robotic 491 00:11:43,970 --> 00:11:45,640 requirements this system and the robotic technologies that are integrated within 492 00:11:45,640 --> 00:11:45,650 technologies that are integrated within 493 00:11:45,650 --> 00:11:48,100 technologies that are integrated within it as direct application to a variety of 494 00:11:48,100 --> 00:11:48,110 it as direct application to a variety of 495 00:11:48,110 --> 00:11:50,170 it as direct application to a variety of operations that will be required in 496 00:11:50,170 --> 00:11:50,180 operations that will be required in 497 00:11:50,180 --> 00:11:52,750 operations that will be required in space in the future in particular it can 498 00:11:52,750 --> 00:11:52,760 space in the future in particular it can 499 00:11:52,760 --> 00:11:54,400 space in the future in particular it can be used for satellite servicing and 500 00:11:54,400 --> 00:11:54,410 be used for satellite servicing and 501 00:11:54,410 --> 00:11:56,200 be used for satellite servicing and repair and maintenance of the Space 502 00:11:56,200 --> 00:11:56,210 repair and maintenance of the Space 503 00:11:56,210 --> 00:11:59,410 repair and maintenance of the Space Station freedom flexibility and 504 00:11:59,410 --> 00:11:59,420 Station freedom flexibility and 505 00:11:59,420 --> 00:12:01,840 Station freedom flexibility and adaptability will be essential 506 00:12:01,840 --> 00:12:01,850 adaptability will be essential 507 00:12:01,850 --> 00:12:03,880 adaptability will be essential capabilities needed for teller robots 508 00:12:03,880 --> 00:12:03,890 capabilities needed for teller robots 509 00:12:03,890 --> 00:12:06,140 capabilities needed for teller robots used on future space missions 510 00:12:06,140 --> 00:12:06,150 used on future space missions 511 00:12:06,150 --> 00:12:09,470 used on future space missions as shown by these demonstrations these 512 00:12:09,470 --> 00:12:09,480 as shown by these demonstrations these 513 00:12:09,480 --> 00:12:13,100 as shown by these demonstrations these qualities are important goals of the JPL 514 00:12:13,100 --> 00:12:13,110 qualities are important goals of the JPL 515 00:12:13,110 --> 00:12:15,740 qualities are important goals of the JPL program