Multi-modal information-sharing teaching system in sensor-based robotics $structured description based on task properties that enables onsite-tuning by reflecting skills
Multi-modal information-sharing teaching system in sensor-based robotics $structured description based on task properties that enables onsite-tuning by reflecting skills
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基于传感器的机器人多模态信息共享教学系统$基于任务属性的结构化描述，通过反映技能实现现场调优
DOI：
10.1109/irds.2002.1043973
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发表时间：
2002
期刊：
影响因子：
--
通讯作者：
Yoshimasa Yanagihira
中科院分区：
文献类型：
--
作者：
M. Mizukawa;Yukihiro Nakamura;H. Ogata;Yoshimasa Yanagihira
我们考虑了一个涵盖从计划到现场教学的任务阶段的教学系统，并提出了基于任务属性的结构化描述。采用多模态交流-教学-顾问（MCTA）系统进行工具操作任务的现场教学。模块化的结构和面向对象的任务处理程序使其能够适用于各种机器人系统，并使系统开发人员可以轻松地定制界面。该接口允许操作员和机器人通过非语言媒体共享内部和外部传感器数据。一个只有常识和普通能力的非专业操作人员的意图可以通过非语言操作转移到机器人系统。实验表明，该教学系统可以控制两种不同类型的机器人控制器，并针对两种控制器的环境设计了标称任务程序。
We consider a teaching system that covers the stages of task from planning to on-site teaching, and propose for it a structured description based on task properties. A multimodal communication-teaching-advisor (MCTA) system is used for on-site teaching for a tool-manipulating task. The modular structure and object-oriented task handling program enable it to be applied to various robot systems and lets system developers customize the interface easily. The interface allows the operator and robot to share internal and external sensor data via nonverbal media. The intentions of an inexpert operator, who has only common knowledge and ordinary abilities, can then be transferred to the robot system via nonverbal operation. Experiments show that two different types of robot controller could be controlled by this teaching system, and the nominal task program was designed for an environment with two controllers.