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Proceedings Paper

Human-directed local autonomy for motion guidance and coordination in an intelligent manufacturing system
Author(s): W. Anthony Alford; Kazuhiko Kawamura; Don Mitchell Wilkes
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Paper Abstract

This paper discusses the problem of integrating human intelligence and skills into an intelligent manufacturing system. Our center has jointed the Holonic Manufacturing Systems (HMS) Project, an international consortium dedicated to developing holonic systems technologies. One of our contributions to this effort is in Work Package 6: flexible human integration. This paper focuses on one activity, namely, human integration into motion guidance and coordination. Much research on intelligent systems focuses on creating totally autonomous agents. At the Center for Intelligent Systems (CIS), we design robots that interact directly with a human user. We focus on using the natural intelligence of the user to simplify the design of a robotic system. The problem is finding ways for the user to interact with the robot that are efficient and comfortable for the user. Manufacturing applications impose the additional constraint that the manufacturing process should not be disturbed; that is, frequent interacting with the user could degrade real-time performance. Our research in human-robot interaction is based on a concept called human directed local autonomy (HuDL). Under this paradigm, the intelligent agent selects and executes a behavior or skill, based upon directions from a human user. The user interacts with the robot via speech, gestures, or other media. Our control software is based on the intelligent machine architecture (IMA), an object-oriented architecture which facilitates cooperation and communication among intelligent agents. In this paper we describe our research testbed, a dual-arm humanoid robot and human user, and the use of this testbed for a human directed sorting task. We also discuss some proposed experiments for evaluating the integration of the human into the robot system. At the time of this writing, the experiments have not been completed.

Paper Details

Date Published: 9 December 1997
PDF: 6 pages
Proc. SPIE 3203, Architectures, Networks, and Intelligent Systems for Manufacturing Integration, (9 December 1997); doi: 10.1117/12.294421
Show Author Affiliations
W. Anthony Alford, Vanderbilt Univ. (United States)
Kazuhiko Kawamura, Vanderbilt Univ. (United States)
Don Mitchell Wilkes, Vanderbilt Univ. (United States)


Published in SPIE Proceedings Vol. 3203:
Architectures, Networks, and Intelligent Systems for Manufacturing Integration

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