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Interactive assembly by a two-arm robot agent

Identifieur interne : 002634 ( Main/Exploration ); précédent : 002633; suivant : 002635

Interactive assembly by a two-arm robot agent

Auteurs : Jianwei Zhang [Allemagne] ; Yorck Von Collani [Allemagne] ; Alois Knoll [Allemagne]

Source :

RBID : ISTEX:7428386B7AEE28B3344AB053619C9021B451E40A

Abstract

The development of a robotic system interacting with a human instructor requires not only highly skilled sensorimotor coordination and action planning but also the capability of understanding and communicating with a human being in a natural way. A typical application of such a system is interactive assembly. A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a human partner. His instructions can be under-specified, incomplete and/or context-dependent. After introducing the general purpose of our project, we present the hardware and software components of a robot agent necessary for interactive assembly tasks. The architecture of the robot agent with two stationary robot arms is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The development tool used for modularly realising these functionalities is presented. The implementation of a learning methodology for a general sensor/actor system is briefly introduced.

Url:
DOI: 10.1016/S0921-8890(99)00041-X


Affiliations:


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