Planning 3D Task Demonstrations of a Teleoperated Space Robot Arm

We present an automated planning application for generating 3D tasks demonstrations involving a teleoperated robot arm on the International Space Station (ISS). A typical task demonstration involves moving the robot arm from one configuration to another. Our objective is to automatically plan the position of virtual cameras to film the arm in a manner that conveys the best awareness of the robot trajectory to the user. Given a new task, or given changes to a task previously planned, our system automatically and efficiently generates 3D demonstrations of the task without the intervention of a computer graphics programmer. For a given task, the robot trajectory is generated using a path planner. Then we consider the filming of the trajectory as a sequence of shots satisfying some temporally extended goal conveying constraints on the desirable positioning of virtual cameras. Then a temporallogic based planning system (TLPlan) is used to generate a 3D movie satisfying the goal. One motiva...

• Type: Conference
• Year: 2008
• Where: AIPS
• Authors: Froduald Kabanza, Khaled Belghith, Philipe Bellefeuille, Benjamin Auder, Leo Hartman
• Keywords: AIPS 2008, Artificial Intelligence, Robot Arm, Robot Trajectory, Teleoperated Robot Arm