Development of a Robot Agent for Interactive Assembly [chapter]

Jainwei Zhang, Yorck Von Collani, Alois Knoll
1998 Distributed Autonomous Robotic Systems 3  
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 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
more » ... r-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 is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The implementation of a learning methodology for a general sensor/actor system is also introduced.
doi:10.1007/978-3-642-72198-4_27 dblp:conf/dars/ZhangCK98 fatcat:ux3gpzh5qvggphfitipkiu7sbu