A local-remote telerobot system for time-delayed traded and shared control

A local-remote supervisory telerobot system providing traded and shared control has been implemented. The system has a clear separation of the local site operator control station and the remote site task execution system with a settable time delay for commands between the two. The remote site task execution system provides autonomous control, force reflecting teleoperation, shared control, and a remote system executive. The local site consists of two operator interfaces: the UMI User Macro Interface and a force reflecting teleoperation graphical interface. UMI provides supervisory control of the operator by providing the operator with a hierarchical menu system to specify autonomous and shared control tasks and to invoke the teleoperation menu. The system demonstrates the viability of ground-remote telerobot operations with an Earth-based operator control station and space-based telerobot.<>