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Article: Task-oriented human and machine cooperation in telerobotic systems
Title | Task-oriented human and machine cooperation in telerobotic systems |
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Authors | |
Keywords | Human operator Dual arm coordination Autonomous operation Obstacle avoidance Force/impact control |
Issue Date | 1996 |
Citation | Annual Reviews in Control, 1996, v. 20, p. 173-178 How to Cite? |
Abstract | A 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 Identifier | http://hdl.handle.net/10722/212674 |
ISSN | 2021 Impact Factor: 10.699 2020 SCImago Journal Rankings: 1.780 |
DC Field | Value | Language |
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dc.contributor.author | Tarn, Tzyh Jong | - |
dc.contributor.author | Xi, Ning | - |
dc.contributor.author | Guo, Chuanfan | - |
dc.contributor.author | Wu, Yunying | - |
dc.date.accessioned | 2015-07-28T04:04:38Z | - |
dc.date.available | 2015-07-28T04:04:38Z | - |
dc.date.issued | 1996 | - |
dc.identifier.citation | Annual Reviews in Control, 1996, v. 20, p. 173-178 | - |
dc.identifier.issn | 1367-5788 | - |
dc.identifier.uri | http://hdl.handle.net/10722/212674 | - |
dc.description.abstract | A 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.language | eng | - |
dc.relation.ispartof | Annual Reviews in Control | - |
dc.subject | Human operator | - |
dc.subject | Dual arm coordination | - |
dc.subject | Autonomous operation | - |
dc.subject | Obstacle avoidance | - |
dc.subject | Force/impact control | - |
dc.title | Task-oriented human and machine cooperation in telerobotic systems | - |
dc.type | Article | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1016/S1367-5788(97)00015-1 | - |
dc.identifier.scopus | eid_2-s2.0-0030312074 | - |
dc.identifier.volume | 20 | - |
dc.identifier.spage | 173 | - |
dc.identifier.epage | 178 | - |
dc.identifier.issnl | 1367-5788 | - |