NASA NTRS · 20100033536
Mixed Real/Virtual Operator Interface for ATHLETE
Abstract
The mixed real/virtual operator interface for ATHLETE (MSim-ATHLETE) is a new software system for operating manipulation and inspection tasks in JPL s ATHLETE (All-Terrain Hex-Legged Extra-Terrestrial Explorer). The system presents the operator with a graphical model of the robot and a palette of available joint types. Once virtual articulations are constructed for a task, the operator can move any joint or link, and the system interactively responds in realtime with a compatible motion for all joints that best satisfies all constraints.
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Norris, Jeffrey S., Mittman, David S., Vona, Marsette A., Rus, Daniela. 2010-09-01. Mixed Real/Virtual Operator Interface for ATHLETE. https://ntrs.nasa.gov/citations/20100033536
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