NASA 1996 SBIR Phase I

PROJECT TITLE : Human Interaction with Semi-Autonomous Robots

TECHNICAL ABSTRACT (LIMIT 200 WORDS)

We propose to develop a toolkit for building user interfaces for effective interaction with an established robotic control architecture. This toolkit will include user interface design patterns, reusable software, and communication interfaces. Traditionally, intelligent control has emphasized full autonomy. But for complex, dynamic tasks like servicing of space-based habitats, the required flexibility and range of operation makes an autonomous approach impractical. It is necessary for humans and robots to work together cooperatively (and often remotely), compensating for each other's limitations and enhancing each other's capabilities. An important issue is semi-autonomous planning and control software for the following types of interaction:

human and robot perform a task jointly
human teleoperates robot to perform an unplanned task
robot requests human assistance at an irresolvable anomaly
robot malfunction is repaired by human

Interfaces developed with this tool kit will support such interaction without requiring humans to perform significant new software management tasks or have extensive software technology skills. This approach allocates tasks to take advantage of human and robot propensities. The human contributes robustness and flexibility, enabling automation to accommodate the unexpected. This in turn enables effective man-machine teaming essential to long duration space habitation and commercial use of robots.

We will package our user interface toolkit with a semi-autonomous robotic control architecture for deploying robots in unstructured environments like hazardous or nuclear waste sites, homes or office building, and modern, flexible factories. Our improved human-robot interaction will allow humans to add reliability and flexibility to commercial use of robots with minimum workload.

DEBRA L. SCHRECKENGHOST
METRICA, INC.
2200 SPACE PARK DRIVE, SUITE 200
HOUSTON, TX 77058