Page 438 - Sensing, Intelligence, Motion : How Robots and Humans Move in an Unstructured World

EXAMPLES 413

Figure 8.11 Robot teleoperation. Here the operator has attempted “to hurt” a student
sitting in the robot work space. After bringing the (slave) robot right above the student’s
head (second picture), the operator moves the master arm sharply down, “expecting” the
robot to repeat this motion. The robot starts in this direction, but then hesitates and stops.
Note the difference between the robot and master arms’ positions (second picture); the
latter shows a clear intention to bring the robot much lower than it went. Eventually
the operator moves the master arm toward us, and the robot follows (third picture).
Note: The videos that supplied pictures for Figures 8.9 to 8.11 can be seen in full on the
web, http://aaaprod.gsfc.nasa.gov/Project/public html-NASA/LaRue-Lumelsty.htm.