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IFAC Proceedings Volumes 1994年第14期27卷 695-714页

作者： G. Hirzinger German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics Oberpfaffenhofen D-82234 Wessling Germany fax: +49 8153 28-1134

The paper tries to outline the state of the art in space robotics. It discusses the technologies used in ROTEX, the first remotely controlled space robot which flew with shuttle COLUMBIA in April 93, but it also gives a review of the major space robot projects envisioned by different nations for the next decade. The mecha-tronics and dynamics aspects of space robots including free-flying systems are briefly discussed. Broader attention is given to the telerobotic and teleoperational control loop structures, including predictive delay-compensating graphics simulation. The paper finally tries to emphasize that by task level programming (involving “learning by showing” on a high level) future space robots will be powerful tools for scientists and ground operators which are not robot specialists. The tele-sensor-programming concept of ROTEX was a first step in this direction. We plead for flying a variety of space robot systems in the near future in order to enhance experience with and confidence in these technologies as quickly as possible.

关键词： Space robotics telerobotics shared autonomy tele-sensor-programming remote control

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Towards a New Generation of Multisensory Light-weight Robots with Learning Capabilities

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IFAC Proceedings Volumes 1993年第2期26卷 665-672页

作者： G. Hirzinger A. Baader R. Koeppe M. Schedl German Aerospace Research Establishment (DLR) Institute for Robotics and System Dynamics D-8031 Oberpfaffenhofen Germany

Key items in the development of a new smart robot generation are explained by hand of DLR's recent activities in robotics research. These items are the design of multisensory gripper systems, ultra-light-weight links and joint drive systems with integrated joint torque control, learning and self-improvement of the dynamical behaviour, modelling the environment using sensorfusion, and new sensor-based off-line programming techniques based on teaching by showing in a (stereo)graphics environment. For each of these issues either simulated or real design results are given.

关键词： Light-weight robots multisensory robots neural nets learning robot control tele-sensor-programming

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