{"title":"Function-based control sharing for robotic systems","authors":"T. Tarn, N. Xi, Chuanfan Guo, A. Bejczy","doi":"10.1109/IROS.1995.525853","DOIUrl":null,"url":null,"abstract":"A new function-based control sharing scheme for robotic systems has been developed based on the event-based planning and control theory. It provides a unified model to integrate a human operator control command with action planning and control of autonomous operation. As a result, the robotic systems can perform tasks which cannot be done by either human operator or autonomous planner/controller alone. This scheme lays down a foundation for planning and control of a general robotic system involving human operators, and provides a natural and efficient way to fuse the human intelligence with the machine intelligence. The scheme is implemented and tested on a PUMA 560 dual-arm system. The experimental results of obstacle avoidance, hybrid force/position control with a commanded force as well as dual-arm coordinated teleoperation are presented.","PeriodicalId":124483,"journal":{"name":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","volume":"67 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1995-08-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"12","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative Robots","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/IROS.1995.525853","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 12
Abstract
A new function-based control sharing scheme for robotic systems has been developed based on the event-based planning and control theory. It provides a unified model to integrate a human operator control command with action planning and control of autonomous operation. As a result, the robotic systems can perform tasks which cannot be done by either human operator or autonomous planner/controller alone. This scheme lays down a foundation for planning and control of a general robotic system involving human operators, and provides a natural and efficient way to fuse the human intelligence with the machine intelligence. The scheme is implemented and tested on a PUMA 560 dual-arm system. The experimental results of obstacle avoidance, hybrid force/position control with a commanded force as well as dual-arm coordinated teleoperation are presented.