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as part of the NASA teller robotics

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program the Jet Propulsion Laboratory is

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pursuing advanced technology and remote

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manipulation in to discipline areas

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tella operation and supervise Donna me

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intelli operation an operator uses hand

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controllers to command the robots

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motions directly in supervised Donna me

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an operator interacts with the system at

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a much higher level while relying on the

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robots information of the task and

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environment to generate its own motion

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commands the results of this research

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will help to develop the technologies

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required to fulfill NASA's potential

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future needs 4 space robotics so we

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could we could machine since its

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beginning in 1985 the broad objectives

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of the JPL program have been to develop

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the robotic technologies that would be

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used in space operations and to

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integrate them into systems these

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technologies would be used to increase

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the productivity of astronauts conduct

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operations too dangerous for humans in

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space or perform boring repetitive tasks

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to date the integration of these new

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technologies has resulted in the

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development of a single robotic system

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that can operate intelli operation or

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supervised dote on ax me in the future

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the system will be able to operate in

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hybrid modes that combine features of

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both called shared control this teller

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robotic test facility provides an

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environment for research and development

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of key robotic technologies several

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features will be highlighted tella

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operation with force reflection

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autonomous compliance strategies and

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operator designate to support the

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operators use of supervised Donna me

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this demonstration will simulate the

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removal of an orbital replacement unit

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an o are you from an Earth orbiting

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satellite an arm will remove the oru and

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will then hand it to another manipulator

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arm which will insert it into a storage

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rack this sequence represents a portion

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of an in-flight maintenance operation

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similar to those which will be performed

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on the space station this demonstration

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utilizes a combination of tella

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operation and supervised dote on ax me

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these two manipulators left and right

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arms are used for grasping and

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manipulating objects this third

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manipulator is the camera arm and is

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used to position and orient four cameras

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these four cameras combined with three

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wing cameras provide the operator with

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two of these cameras are used to provide

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the operator with a color 3d stereo

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display this truss structure simulates

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the body of a satellite or the space

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station and supports a mock-up of a no

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are you to simulate the uncertainties

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that may exist in the space environment

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the initial location of the trust is not

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known to the robot beforehand the module

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represents an o are you and has to

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grapple lugs the robot carries a picture

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of this module in its database however

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one of the grapple lugs the left one has

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been intentionally misaligned to

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simulate a modelling error the

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experiment will show how the robot deals

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with this in addition a cylinder has

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been placed around the grapple lug to

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simulate occluded viewing conditions

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that might be expected in space the two

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arms used for grasping have wrist

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sensors which detect forces and torques

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the information received from these

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sensors is used in force reflection and

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compliance because the position of the

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trust is not known to the robot at the

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beginning the operator will first need

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to determine where the actual oru is

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located the operator begins the task by

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using a procedure called operator

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designate to determine the position of

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the module body when the module body is

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located the position of the grapple lug

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can be determined from the picture of

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the module carried in the robots

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database even though the grapple lug

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cannot be seen on two monitors each

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showing a slightly different view the

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operator overlays a line drawing of the

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module the operator then specifies the

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true locations of several corners of the

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module body by indicating which corner

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of the overlay corresponds to which

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no object location based on four point

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because the camera images have been

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carefully calibrated this information

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can be used to update the robots

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database 78.6 new object location based

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on eight points with the modules

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accurate position stored in its database

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the robot can then locate the grapple

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luck with this accomplished the system

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then moves the left arm toward the left

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actually gripper on remote site using

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left term moving the arm too near the

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object this is the lug that was

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intentionally misaligned using active

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compliance the left arm gently and

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autonomously moves in several directions

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to accommodate the misalignment and

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allow the grasping action to be

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completed actually a dripper on remote

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since October 1989 the speed with which

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these operations can be performed has

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been increased by a factor of three this

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is because we have introduced the

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capability to plan actions at the

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operators site while simultaneously

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executing other commands at the remote

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site intelli operation the operator uses

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the force reflecting hand controllers

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and looks at the 3d display to view the

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workspace while he removes and

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transports the module dr. Henry stone a

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force reflection is a mode of tele

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operation in which the forces that are

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sensed at the end effector of the arm

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are reflected back to one of these hand

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controllers here and that provides the

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operator with a sensation of contact

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with the environment should the geometry

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prevent the left arm from storing the

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module the module would have to be

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handed off to the right arm in this case

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the left arm holds the module and the

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right arm performs a grasp sequence

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identical to that just executed we have

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not placed a cylinder around the right

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grapple ugh so we can provide a better

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view of the upcoming autonomous error

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recovery sequence because the left

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grapple ugh was misaligned the actual

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position of the right grapple lug is

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significantly different than the robots

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model would predict this causes the

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automated grasp to fail the operator is

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informed of the failure and decides to

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check the database by displaying the

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image of the module on the video

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monitors the error is apparent because

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the right grapple lug line image on the

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video monitor and the module do not

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coincide the operator can see that the

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cause of the failure is due to the Miss

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positioning of this grapple ugh to

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recover from this failure the operator

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again chooses object designation to

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correct and update the database model

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with this new information in the

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database the operator execute the

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autonomous sequence successfully and

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the operator uses tella operation to

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release the left side of the module and

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move the left arm away the operator also

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uses tella operation to move the right

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arm inserting the module into its

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storage location and completing the oru

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removal task in addition to tella

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operation and supervised Donna me this

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system is also capable of combining the

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two modes into one called shared control

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at this time it has been partially

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integrated into the system during shared

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control the operators using the hand

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controller to basically guide the

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position of the end effector whereas the

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autonomous system at the same time is

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controlling forces and torques to

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maintain a particular profile shared

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control will now be used to simulate an

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optical cleaning task this dome

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represents an optical surface the

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operator sits at the console and

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commands the arm to grasp the cleaning

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pad autonomously the operator commands

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the movements of the pad using a hand

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controller the autonomous system ensures

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that the pad follows the contour of the

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dome and controls the pressure exerted

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on it during this operation

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only the planar motions of the hand

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controller that I'm making are being

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mapped into motions of the pad about the

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dome the other degrees of freedom are

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being controlled by the autonomous

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system in order to maintain certain

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forces and torques which are required

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for the actual polishing to occur the

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demonstrations you have seen represent

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technologies being advanced to meet the

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needs of NASA's Space Program these

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demonstrations at the JPL teller robotic

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test facility showed a state-of-the-art

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integrated robotic system capable of

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performing complex sequences of

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operations using a mixture of autonomy

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and tella operation where the operator

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has the ability to select the mode which

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is best suited for the task at hand in

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the oru exchange task the system coped

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with uncertainties and inaccuracies in

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its database by using the features of

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active compliance and operator designate

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operator designate was used to update

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the position of the oru so that the

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occluded grapple ugh could be found

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active compliance then permitted the

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grapple ugh to be grasped even though it

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was misaligned later operator designate

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was used again to overcome the error in

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the assumed position of the right

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grapple ugh caused by the misalignment

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of the left one with the operator

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controlled polishing of the dome we

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showed one example of where supervised

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Donna me was combined with tella

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operation to tailor specific

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capabilities to specific task

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requirements this system and the robotic

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technologies that are integrated within

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it as direct application to a variety of

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operations that will be required in

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space in the future in particular it can

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be used for satellite servicing and

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repair and maintenance of the Space

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Station freedom flexibility and

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adaptability will be essential

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capabilities needed for teller robots

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used on future space missions

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as shown by these demonstrations these