Development of a Robot Agent for Interactive Assembly

• Autores: Jainwei Zhang, Yorck Von Collani, Alois Knoll
• Localización: Distributed Autonomous Robotic Systems 3 / coord. por Tim Lueth, Rudiger Dillmann, Paolo Dario, Heinz Wörn, 1998, ISBN 9783642721984, págs. 277-286
• Idioma: inglés
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• Resumen

  • The development of a robotic system interacting with a human instructor requires not only highly-skilled sensorimotor coordination and action planning but also the capability of communicating with a human being in a natural way. A typical application of such a system is interactive assembly. A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a human partner. His instructions can be under-specified, incomplete and/or context-dependent. After introducing the general purpose of our project, we present the hardware and software components of a robot agent necessary for interactive assembly tasks. The architecture of the robot agent is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The implementation of a learning methodology for a general sensor/actor system is also introduced.