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Conference Paper: Function-based control sharing for robotic systems

TitleFunction-based control sharing for robotic systems
Authors
Issue Date1995
Citation
IEEE International Conference on Intelligent Robots and Systems, 1995, v. 3, p. 1-6 How to Cite?
AbstractA new function-based control sharing scheme for robotic systems has been developed based on the event-based planning and control theory. It provides a unified model to integrate a human operator control command with action planning and control of autonomous operation. As a result, the robotic systems can perform tasks which cannot be done by either human operator or autonomous planner/controller alone. This scheme lays down a foundation for planning and control of a general robotic system involving human operators, and provides a natural and efficient way to fuse the human intelligence with the machine intelligence. The scheme is implemented and tested on a PUMA 560 dual-arm system. The experimental results of obstacle avoidance, hybrid force/position control with a commanded force as well as dual-arm coordinated teleoperation are presented.
Persistent Identifierhttp://hdl.handle.net/10722/212664

 

DC FieldValueLanguage
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorXi, Ning-
dc.contributor.authorGuo, Chuanfan-
dc.contributor.authorBejczy, Antal K.-
dc.date.accessioned2015-07-28T04:04:37Z-
dc.date.available2015-07-28T04:04:37Z-
dc.date.issued1995-
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems, 1995, v. 3, p. 1-6-
dc.identifier.urihttp://hdl.handle.net/10722/212664-
dc.description.abstractA new function-based control sharing scheme for robotic systems has been developed based on the event-based planning and control theory. It provides a unified model to integrate a human operator control command with action planning and control of autonomous operation. As a result, the robotic systems can perform tasks which cannot be done by either human operator or autonomous planner/controller alone. This scheme lays down a foundation for planning and control of a general robotic system involving human operators, and provides a natural and efficient way to fuse the human intelligence with the machine intelligence. The scheme is implemented and tested on a PUMA 560 dual-arm system. The experimental results of obstacle avoidance, hybrid force/position control with a commanded force as well as dual-arm coordinated teleoperation are presented.-
dc.languageeng-
dc.relation.ispartofIEEE International Conference on Intelligent Robots and Systems-
dc.titleFunction-based control sharing for robotic systems-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.scopuseid_2-s2.0-0029191590-
dc.identifier.volume3-
dc.identifier.spage1-
dc.identifier.epage6-

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