| Popis: |
A great variety of robotic systems have been developed over the past decades, varying from fully human-controlled teleoperated systems, to fully motion-programmed, industrial-type devices, to sensor-equipped ‘intelligent’ machines with autonomous perception and reasoning capabilities. All these systems, however, have very static roles in supporting humans, in the sense that their capabilities are limited to very narrow functions or tasks domains and they cannot really adapt to changing environments where entirely new tasks may be necessary. By considering these systems as part of overall human-machine systems, interesting adaptation capabilities can be envisioned for the machine through the sharing of control and experiences, and observation of the human actions. This paper proposes a general conceptual architecture for enhancing the synergy between humans and machines in such cooperative systems, and investigates an implementation of the concept to the synergistic integration of teleoperative and autonomous operation of a manipulator arm for the execution of sequential tasks. The proposed architecture reflects a unique blend of many disciplines of artificial or machine intelligence and the functioning of its major modules is discussed. The paper then focuses on initial implementations of the Job Planner, Task Allocator, and Execution Monitor modules to discuss simple proof-of-principle experiments illustrating the coalescence of these modules needed to achieve skill-based dynamic task planning, allocation, and execution. |
