Accession Number : ADA289399

Title :   Multi -Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification.

Descriptive Note : Technical rept.,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s) : Voyles, Richard M., Jr. ; Khosia, Pradeep K.

PDF Url : ADA289399

Report Date : 15 SEP 1994

Pagination or Media Count : 25

Abstract : An application of distributed perception to a novel human/computer interface is presented. A multi-agent network has been applied to the task of modifying a robotic trajectory based on very sparse physical inputs from the user. The user conveys intentions by nudging the end effector, instrumented with a wrist force/torque sensor, in an intuitive manner. In response, each agent interprets these sparse inputs with the aid of a local, fuzzified, heuristic model of a particular parameter or trajectory shape. The agents then independently determine the confidence of their respective findings and distributed arbitration resolves the interpretation through voting.

Descriptors :   *ROBOTICS, *MAN COMPUTER INTERFACE, *TRAJECTORIES, *WRIST, COMPUTER PROGRAMS, DETECTORS, MODELS, NETWORKS, DISTRIBUTION, HUMANS, INTERACTIONS, MODIFICATION, ROBOTS, SHAPE, HUMAN FACTORS ENGINEERING, HEURISTIC METHODS, PERCEPTION, TORQUE, FORCE(MECHANICS), CHEMICAL AGENT DETECTORS, BARGAINING.

Subject Categories : Human Factors Engineering & Man Machine System
      Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE