Robert R. Burridge

Sequential composition of dynamically dexterous robot behaviors

We report on our efforts to develop a sequential robot controller-composition technique in the context of dexterous “batting” maneuvers. A robot with a flat paddle is required to strike repeatedly at a thrown ball until the ball is brought to rest on the paddle at a specified location. The robot’s reachable workspace is blocked by an obstacle that disconnects the free space formed when the ball and paddle remain in contact, forcing the machine to “let go” for a time to bring the ball to the desired state. The controller compositions we create guarantee that a ball introduced in the “safe workspace” remains there and is ultimately brought to the goal. We report on experimental results from an implementation of these formal composition methods, and present descriptive statistics characterizing the experiments.

The Peer-to-Peer Human-Robot Interaction Project

The Peer-to-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our hypothesis is that peer-to-peer interaction can enable robots to collaborate in a competent, non-disruptive (i.e., natural) manner with users who have limited training, experience, or knowledge of robotics. Specifically, we believe that failures and limitations of autonomy (in planning, in execution, etc.) can be compensated for using human-robot interaction. In this paper, we present an overview of P2P-HRI, describe our development approach and discuss our evaluation methodology.

Using prediction to enhance remote robot supervision across time delay

The Predictive Interactive Graphical Interface (PIGI) is a suite of tools developed at NASAs Johnson Space Center (JSC) for supervising robots across expected Earth-moon time delays (5–10 second round trip). These tools improve interaction between a human supervisor and a remote robot by mitigating the effects of the time delay. Using a combination of robot behavior prediction and task queuing, PIGI enables the supervisor to reduce robot idle time, which leads to more efficient completion of the tasks. PIGI was used in 2007 and 2008 to remotely command five different NASA robots in Arizona, California, Texas, and Washington, all from a single location at JSC in Houston.

Global asymptotic stability of a passive juggler: a parts feeding strategy

In this paper we demonstrate that a passive vibration strategy can bring a 1 degree of freedom ball to a known trajectory from all possible initial configurations. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analytical results to the parts feeding problem.

A Preliminary Study of Peer-to-Peer Human-Robot Interaction

The Peer-To-Peer Human-Robot Interaction (P2P-HRI) project is developing techniques to improve task coordination and collaboration between human and robot partners. Our work is motivated by the need to develop effective human-robot teams for space mission operations. A central element of our approach is creating dialogue and interaction tools that enable humans and robots to flexibly support one another. In order to understand how this approach can influence task performance, we recently conducted a series of tests simulating a lunar construction task with a human-robot team. In this paper, we describe the tests performed, discuss our initial results, and analyze the effect of intervention on task performance.

Global asymptotic stability of a passive juggling strategy: A possible parts-feeding method

In this paper we demonstrate that a passive vibration strategy can bring a one-degree-of-freedom ball to a specified periodic trajectory from all initial conditions. We draw motivation from the problem of parts feeding in sensorless assembly. We provide simulation results suggesting the relevance of our analysis to the parts feeding problem.

Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors

We report on our efforts to develop robot controller composition techniques in the context of dexterous “batting” maneuvers. A robot with a flat paddle is required to strike repeatedly at a falling ball until its height is regulated and it is brought to zero horizontal velocity at a specified position. The robot’s workspace is cluttered with obstacles that disconnect the freespace formed when the ball and paddle remain in contact — the machine is forced to “let go” for a time in order to bring the ball to the desired state. The controller compositions that we create will guarantee that a ball introduced in the “safe workspace” remains there and is ultimately brought to the goal. We believe that the developing systems discipline described herein may be extended to build a variety of useful dexterous machines that are similarly single-minded in their pursuit of the user’s goal behavior and ability to surmount unanticipated perturbations along the way.

Remote Task‐level Commanding of Centaur over Time Delay

Remote operation of robots on the lunar surface by ground controllers poses unique human‐robot interaction challenges due to time delay and constrained bandwidth. One strategy for addressing these challenges is to provide task‐level commanding of robots by a ground controller. Decision‐support tools are being developed at JSC for remote task‐level commanding over time‐delay. The approach is to provide ground procedures that guide a controller when executing task‐level command sequences and aid awareness of the state of command execution in the robot. This approach is being evaluated using the Centaur robot at JSC. The Centaur Central Commander provides a task‐level command interface that executes on the robot side of the delay. Decision support tools have been developed for a human Supervisor in the JSC Cockpit to use when interacting with the Centaur Central Commander. Commands to the Central Commander are defined as instructions in a procedure. Sequences of these instructions are grouped into procedures...

THE ROLE OF LITERAL MEANING IN THE COMPREHENSION OF NON-LITERAL CONSTRUCTIONS

Based on psychological studies which show that metaphors and other non‐literal constructions are comprehended in the same amount of time as comparable literal constructions, some researchers have concluded that literal meaning is not computed during comprehension of non‐literal constructions. In this paper, we suggest that the empirical evidence does not rule out the possibility that literal meaning is constructed. We present a computational model of comprehension of non‐literal expressions which is consistent with the data, but in which literal meaning is computed. This model has been implemented as part of a unification‐based natural language processing system, called LINK.

Astronaut Interface Device (AID)

The Astronaut Interface Device (AID) Project was focused on developing technologies that will allow an astronaut (in a pressurized spacesuit) to control and communicate with several different robots on the moon. The intention was to provide the astronaut with useful information about each robot, and the capability to send commands to these robots. This goal proved to be a significant engineering challenge because the robots (All-Terrain Hex-Legged Extra-Terrestrial Explorer (ATHLETE), K10, and Centaur) were dissimilar robots, with very different architectures and functionality. In spite of the challenges, the three NASA center team (Jet Propulsion Laboratory, Ames Research Center, and Johnson Space Center) was able to successfully monitor and control all three robots after only six months of development. This paper discusses the background of each robot, provides a detailed description of the design and development of AID, and reviews field testing outcomes.