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Hierarchical Control of Intelligent Machines Applied to Space Station Telerobots

Published

Author(s)

James S. Albus, Ronald Lumia, H Mccain

Abstract

A 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, 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. This paper describes the architecture of the entire control system hierarchy and how it can be applied to space telerobot applications.
Proceedings Title
Proceedings of the 1987 IEEE International Symposium on Intelligent Control
Conference Dates
January 19-20, 1987
Conference Location
Philadelphia, PA, USA
Conference Title
Intelligent Control

Keywords

NASA

Citation

Albus, J. , Lumia, R. and Mccain, H. (1987), Hierarchical Control of Intelligent Machines Applied to Space Station Telerobots, Proceedings of the 1987 IEEE International Symposium on Intelligent Control, Philadelphia, PA, USA, [online], https://tsapps.nist.gov/publication/get_pdf.cfm?pub_id=820161 (Accessed April 20, 2024)
Created January 19, 1987, Updated October 12, 2021