Advanced Manipulator Control through Human Movement-Based Quickening

70203 This project will enhance the efficiency of remote operations of DOE Environmental Management (EM) missions by providing algorithms, based on human movement science, for quickening remote operations with telerobots. The algorithms will render telerobot control more efficient by allowing the robot to respond more quickly to user inputs. To accomplish this objective, a physiological model of human trajectory production will be integrated with kinematic models of robotic manipulators. In addition, the control algorithms will permit model based anticipation of user motion commands based on human neurophysiological principles. Phase I will develop software for the simulation of symbiotic human-robot movements. First, a one-degree-of-freedom human joint simulation will be developed, including a one-degree-of-freedom robot link, and then the one-degree-of-freedom model will be extended to include multiple degrees-of-freedom. The software will serve as a basis for development of control algorithms during Phase II. Commercial Applications and Other Benefits as described by the awardee: The software algorithms should support the operation and design of robots with greater efficiency at all levels of control (teleoperation, telerobotics, and supervisory control), leading to further advantages of robotic systems over manual alternatives for EM missions.