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Article: Task-oriented human and machine cooperation in telerobotic systems

TitleTask-oriented human and machine cooperation in telerobotic systems
Authors
KeywordsHuman operator
Dual arm coordination
Autonomous operation
Obstacle avoidance
Force/impact control
Issue Date1996
Citation
Annual Reviews in Control, 1996, v. 20, p. 173-178 How to Cite?
AbstractA new task-oriented human and machine cooperation scheme for telerobotic 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, force and impact control as well as dual-arm coordinated teleoperation are presented.
Persistent Identifierhttp://hdl.handle.net/10722/212674
ISSN
2015 Impact Factor: 2.042
2015 SCImago Journal Rankings: 2.443

 

DC FieldValueLanguage
dc.contributor.authorTarn, Tzyh Jong-
dc.contributor.authorXi, Ning-
dc.contributor.authorGuo, Chuanfan-
dc.contributor.authorWu, Yunying-
dc.date.accessioned2015-07-28T04:04:38Z-
dc.date.available2015-07-28T04:04:38Z-
dc.date.issued1996-
dc.identifier.citationAnnual Reviews in Control, 1996, v. 20, p. 173-178-
dc.identifier.issn1367-5788-
dc.identifier.urihttp://hdl.handle.net/10722/212674-
dc.description.abstractA new task-oriented human and machine cooperation scheme for telerobotic 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, force and impact control as well as dual-arm coordinated teleoperation are presented.-
dc.languageeng-
dc.relation.ispartofAnnual Reviews in Control-
dc.subjectHuman operator-
dc.subjectDual arm coordination-
dc.subjectAutonomous operation-
dc.subjectObstacle avoidance-
dc.subjectForce/impact control-
dc.titleTask-oriented human and machine cooperation in telerobotic systems-
dc.typeArticle-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1016/S1367-5788(97)00015-1-
dc.identifier.scopuseid_2-s2.0-0030312074-
dc.identifier.volume20-
dc.identifier.spage173-
dc.identifier.epage178-

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