Distribution of control decisions in remote manipulation

The particular characteristics of the problem of distributing control decisions between man and computer in remotely controlled manipulation are discussed. State of the art is reviewed from two viewpoints: (1) Specifications of both control commands and control context of sensor signals the operator inputs to the manipulator control computer. (2) Operations the manipulator control computer performs on operator commands and realtime sensor signals to control the manipulator for a specified task. JPL breadboard systems, system components, and control experiments are described related to the development and evaluation of manipulator control systems with capabilities of distributing control decisions between man and computer.