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Fusion of human and machine intelligence for telerobotic systems

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4 Author(s)
Chuanfan Guo ; Dept. of Syst. Sci. & Math., Washington Univ., St. Louis, MO, USA ; Tzyh-Jong Tarn ; Ning Xi ; A. K. Bejczy

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

Published in:

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on  (Volume:3 )

Date of Conference:

21-27 May 1995