Human-In-The-Loop Control Through Kinematic Redundancy Resolution For Space Exploration Rovers

We present an architecture to enable the modeling of human-in-the-loop control problem of space exploration robotic systems. We describe a shared control architecture, originally developed for assistive and disaster response robotics, for potential use in a space exploration scenario. Examples relevant to space are provided to highlight the different elements of the shared control architecture. A method for integrating human input with the autonomous behavior of the system using redundancy resolution taking into account primary and secondary tasks is presented. Five different modalities of shared control are described with the redundancy resolution method. The shared control architecture and redundancy resolution allow human input to be integrated as constraints on the kinematic model of the system.