An architecture for cognitive human-robot integration. Application to rehabilitation robotics
An architecture for cognitive human-robot integration. Application to rehabilitation robotics
复制标题
认知人机集成架构。
DOI：
10.1109/icma.2005.1626568
复制
发表时间：
2005
期刊：
影响因子：
--
通讯作者：
Juan
中科院分区：
文献类型：
--
作者：
C. Galindo;Javier Gonzalez;Juan
在人类占据的真实的复杂场景中完全自主操作所需的机器人技能仍然超出了当前机器人技术提供的能力。尽管如此，在人类和机器人紧密结合的各种辅助应用中，如果周围的人类（或被辅助的人）能够通过机器不支持的技能或以不同的且（可能）不太可靠的方式支持的技能来扩展机器人能力，则移动的机器人可以执行有效且有价值的工作。为了实现这一目标，机器人和人类必须在机器人架构的各个层面上密切互动和合作，包括审议，控制和执行。本文提出了一种新的机器人体系结构，称为ACHRIN，它支持一个强大的集成到机器人系统的人，以提高机器人的整体性能以及其可靠性。我们的人机整合在很大程度上依赖于共享世界的符号概念（认知整合）。ACHRIN已经在一个真实的康复机器人中得到了实施和测试：一个为残疾人或老年人提供移动能力的机器人轮椅。
Robot skills that are needed to operate completely autonomously in a real complex scenario populated by humans are still beyond the capabilities that the current robotic technology offers. In spite of that, in a variety of assistant applications where human and robot are closely tied, mobile robots can perform an effective and valuable work if humans in the surroundings (or the assisted person) would be enabled to extend the robot abilities through skills either not supported by the machine or supported in a different and (maybe) less dependable manner. To achieve that, robot and human must closely interact and collaborate at all levels of the robotic architecture, including deliberation, control and execution. This paper proposes a new robotic architecture, called ACHRIN, which supports a strong integration of the human into the robotic system in order to improve the overall performance of the robot as well as its dependability. Our human-robot integration relies to a great extend on sharing symbolic concepts of the world (cognitive integration). ACHRIN has been implemented and tested in a real rehabilitation robot: a robotic wheelchair that provides mobility to impaired or elderly people.