Fusion of human and machine intelligence for telerobotic systems

A new intelligent fusion scheme for human operator command and autonomous planner/controller in telerobotic system 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 au...

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Bibliographic Details
Main Authors: Chuanfan Guo, Tzyh-Jong Tarn, Ning Xi, Bejczy, A.K.
Format: Conference Proceeding
Language:English
Subjects:
Control systems
Control theory
Force control
Fuses
Humans
Intelligent robots
Intelligent systems
Machine intelligence
System testing
Telerobotics
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Summary:A new intelligent fusion scheme for human operator command and autonomous planner/controller in telerobotic system 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 telerobotic system 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 robotic system. The experimental results of obstacle avoidance, and hybrid force/position control with a commanded force are presented.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1995.525727