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Conference Paper: Function-based control sharing for robotic systems
| Title | Function-based control sharing for robotic systems |
|---|---|
| Authors | |
| Issue Date | 1995 |
| Citation | IEEE International Conference on Intelligent Robots and Systems, 1995, v. 3, p. 1-6 How to Cite? |
| Abstract | A 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 Identifier | http://hdl.handle.net/10722/212664 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Tarn, Tzyh Jong | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Guo, Chuanfan | - |
| dc.contributor.author | Bejczy, Antal K. | - |
| dc.date.accessioned | 2015-07-28T04:04:37Z | - |
| dc.date.available | 2015-07-28T04:04:37Z | - |
| dc.date.issued | 1995 | - |
| dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems, 1995, v. 3, p. 1-6 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212664 | - |
| dc.description.abstract | A 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.language | eng | - |
| dc.relation.ispartof | IEEE International Conference on Intelligent Robots and Systems | - |
| dc.title | Function-based control sharing for robotic systems | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.scopus | eid_2-s2.0-0029191590 | - |
| dc.identifier.volume | 3 | - |
| dc.identifier.spage | 1 | - |
| dc.identifier.epage | 6 | - |