Title :
Architecture for a human-robot symbiotic system
Author :
DePiero, Fred W. ; Manges, Wayne W. ; Kress, Reid L. ; Kedl, Mike R. ; Hamel, William R.
Author_Institution :
Oak Ridge Nat. Lab., TN, USA
Abstract :
A description is given of a human-robot symbiont that is under development. The authors present an overview of the symbiotic system, motivating the architecture that has been developed. The architecture is a hierarchical structure that consists of several expert systems which reside above a robot control interface. This interface allows the manipulator to be operated in both a teleoperated and autonomous mode. All these processes coexist with the lower level of the hierarchy, which is a numerically intensive control algorithm. The architecture is implemented on five processors in a coarsely parallel system
Keywords :
expert systems; man-machine systems; parallel processing; robots; telecontrol; architecture; control interface; expert systems; hierarchical structure; human-robot symbiotic system; man machine systems; manipulator; parallel processing; telecontrol; Control systems; Humans; Instruments; Intelligent sensors; Laboratories; Master-slave; Robotic assembly; Robots; Symbiosis; Telerobotics;
Conference_Titel :
System Theory, 1990., Twenty-Second Southeastern Symposium on
Conference_Location :
Cookeville, TN
Print_ISBN :
0-8186-2038-2
DOI :
10.1109/SSST.1990.138117
