Page 46 - Introduction to AI Robotics
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1.5 Teleoperation

























                                                                                        REMOTE         29

                                                                                         Sensor
                                              LOCAL
                                                               Communication
                                             Display                                     Mobility


                                             Control                                     Effector


                                                                                          Power



                                      Figure 1.6 Organization of a telesystem. (Photographs courtesy of Oak Ridge Na-
                                      tional Laboratory.)



                                      perception and decision making. One example of teleoperation is the explo-
                                      ration of underwater sites such as the Titanic. Having a human control a
                                      robot is advantageous because a human can isolate an object of interest, even
                                      partially obscured by mud in murky water as described by W. R. Uttal. 141
                                      Humans can also perform dextrous manipulation (e.g., screwing a nut on a
                                      bolt), which is very difficult to program a manipulator to do.
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