Control architecture and experiment of a situated robot system for interactive assembly
Control architecture and experiment of a situated robot system for interactive assembly
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交互式装配定位机器人系统的控制架构与实验
DOI：
10.1109/robot.2002.1014335
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
A. Knoll
中科院分区：
文献类型：
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作者：
Jianwei Zhang;A. Knoll
我们提出了一个机器人系统的开发和实验，显示三到四岁的儿童的认知能力。我们专注于两个主题：用双手进行组装，并理解自然语言中的人类指令，这是组装系统被人类视为“智能”的先决条件。这种系统的一个典型应用是交互式装配。一个与机器人分享装配场景的人类交流者通过与机器人说话来指导后者，就像他与孩子交流一样。他的指令可能不够具体、不完整和/或依赖于上下文。在介绍了我们项目的总体目的后，我们介绍了交互式装配任务所需的机器人的硬件和软件组件。讨论了双固定臂机器人系统的控制结构。然后，我们描述的指令理解，规划和执行水平的功能。简要介绍了分层学习方法、存储器和监控功能的实现。最后，我们列出了未来的研究课题扩展我们的系统。
We present the development of and experiment with a robot system showing cognitive capabilities of children of three to four years. We focus on two topics: assembly by two hands and understanding human instructions in natural language as a precondition for assembly systems being perceived by humans as "intelligent". 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 child. 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 our robots necessary for interactive assembly tasks. The control architecture of the robot system with two stationary robot arms is discussed. We then describe the functionalities of the instruction understanding, planning and execution levels. The implementations of a layered-learning methodology, memories and monitoring functions are briefly introduced. Finally, we outline a list of future research topics for extending our system.