Intelligent and cooperative control of telerobot tasks

Techniques of intelligent and cooperative control of a telerobot have been implemented in a telerobot system called MEISTER (model enhanced intelligent and skilful teleoperational robot), which integrates a task knowledge base and cooperative control to realize man/robot cooperation in task execution from the intelligent level to the motion level. To support multilevel man/robot cooperation, MEISTER is equipped with a motion understanding system that maintains the world model even when the human operator executes tasks through direct maneuvering of the robot. The system is described, and a flame test chemical experiment showing how the proposed techniques for man/robot cooperation work in a telerobot task is reported.<>