Integration of a task knowledge base and a cooperative maneuvering system for the telerobot `MEISTER´

This paper describes the MEISTER (Model Enhanced Intelligent and Skilful TEleRobot) system, which integrates task oriented object models, and cooperative maneuvering system to realize cooperation between man and robot at both the intelligent and motion levels. The object models contain knowledge for executing tasks in unstructured environments with flexibility and robustness through the man/robot cooperation at the intelligent level. The cooperative maneuvering system can superpose autonomous motion of the robot on the maneuvering input from the operator. It realizes adaptability of programmed execution of the robot to the environment uncertainties. The task demonstration of a chemical experiment shows how the cooperative functions of MEISTER work for flexible and robust task execution by a telerobot