Telesystem
Given that humans still exceed machines at sensing and at dexterous manipulation, it is often desirable to have systems that enable humans and robots that are physically separated to interact to accomplish the task. This human-robot arrangement is called telesystem.
Taskable agents vs remote presence domains
- taskable agents domain: when the robot is given a complex task or mission, it executes it without supervision, and then returns or informs the human (e.g. Terminator)
- remote presence domain: when human and robot share the task and the task execution is blended.
7 components of a telesystem
2 at the local workstation, 4 at the remote robot and 1 communication component.
LOCAL:
* display
* control mechanisms
REMOTE:
* sensors
* effectors
* power
* mobility
Human supervisory control definition
When one or more human operators are intermittenly giving directives and continually receiving information from a computer, that, itself, closes an autonomous control loop.
Types of teleoperation
In teleoperation we have the human that can’t see the robot.
- manual control: human primary controller
- traded control: robot primary controller
- shared control: robot-human simultaneously contribute to the control
draw the schema 5.4 - 5.5 - 5.7 - 5.8
