Signal Communication for Collaborative Robot Behavior Control

V. Karpov, M. Rovbo, P. Sorokoumov
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Abstract

Robots are increasingly required to work in close cooperation with humans and other robots, performing common tasks jointly, in collaboration. High-level decision making by an autonomous agent with such interactions require specific means of responding to the situation. This paper describes the implementation of the control system for a collaborative robot, based on the emotion-need architecture that provides reliable and interpretable interaction means of the robot with other agents. The robot is an autonomous device whose behavior is aimed at satisfying its current needs. The communication between the operator and the robot is based on signal communication: the operator’s signal ("command") activates an element of the emotion-need scheme — a gateway that implements the emotional feedback. Since the gateway connects the sensors and behavioral procedures, its activation starts the corresponding procedure, as if the sensory system had registered a real stimulus. The external signal of such indirect control can be represented in acoustic form or as the operator’s posture. The needs of the robot are aimed at both its physical survival (danger avoidance) and maintenance of the social connections (accompanying friendly agents). The robot recognizes external commands and activates the gateway associated with the highest priority action. The activity also gradually fades, which allows actions to be performed for some time even in the absence of an appropriate internal stimulus. The resulting robot is able to perform the simplest patrol tasks together with a human, acting in a predictable and understandable (interpretable) way for the human.
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协同机器人行为控制的信号通信
越来越多的机器人需要与人类和其他机器人密切合作,共同完成共同的任务。具有这种相互作用的自主代理的高级决策需要对情况作出响应的特定手段。本文描述了基于情感需求体系结构的协作机器人控制系统的实现,该体系结构为机器人与其他智能体提供可靠且可解释的交互手段。机器人是一种自主装置,其行为旨在满足其当前需求。操作员和机器人之间的交流基于信号交流:操作员的信号(“命令”)激活情感需求方案的一个元素——一个实现情感反馈的网关。由于通道连接了传感器和行为程序,它的激活启动了相应的程序,就好像感觉系统记录了一个真实的刺激。这种间接控制的外部信号可以用声音形式或操作员的姿势来表示。机器人的需求既针对其物理生存(避免危险),也针对维持社会关系(陪伴友好的代理人)。机器人识别外部命令并激活与最高优先级动作相关的网关。这种活动也会逐渐消失,这使得即使在没有适当的内部刺激的情况下,动作也能持续一段时间。由此产生的机器人能够与人类一起执行最简单的巡逻任务,以人类可预测和可理解(可解释)的方式行事。
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来源期刊
Mekhatronika, Avtomatizatsiya, Upravlenie
Mekhatronika, Avtomatizatsiya, Upravlenie Engineering-Electrical and Electronic Engineering
CiteScore
0.90
自引率
0.00%
发文量
68
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