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Proceedings Paper

Intelligent telerobotic assistant for people with disabilities
Author(s): Zunaid Kazi; Matthew Beitler; Marcos Salganicoff; Shoupu Chen; Daniel Chester; Richard Foulds
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Paper Abstract

The development of an assistive telerobotic system which integrates human-computer interaction with reactive planning is the goal of our research. The system is intended to operate in an unstructured environment, rather than in a structured workcell, allowing the user considerably freedom and flexibility in terms of control and operating ease. Our approach is based on the assumption that while the user's world is unstructured, objects within are reasonably predictable. We reflect this arrangement by providing a means of determining the superquadric shape representation of the scene, and an object-oriented knowledge base and reactive planner which superimposes information about common objects in the world. A multimodal user interface interprets deictic gesture and speech inputs with the goal of identifying the object that is of interest to the user. The multimodal interface performs a critical disambiguation function by binding the spoken words to a locus in the physical work space. The spoken input is also used to supplant the need for general purpose object recognition. Instead, 3D shape information is augmented by the users spoken word which may also invoke the appropriate inheritance of object properties using the adopted hierarchical object-oriented representation scheme. The underlying planning mechanism results in a reactive, intelligent and `instructible' telerobot. We describe our approach for an intelligent assistive telerobotic system (MUSIIC) for unstructured environments: speech-deictic gesture control integrated with a knowledge-driven reactive planner and a stereo-vision system.

Paper Details

Date Published: 1 December 1995
PDF: 11 pages
Proc. SPIE 2590, Telemanipulator and Telepresence Technologies II, (1 December 1995); doi: 10.1117/12.227936
Show Author Affiliations
Zunaid Kazi, Univ. of Delaware and A. I. duPont Institute (United States)
Matthew Beitler, Univ. of Delaware and A. I. duPont Institute (United States)
Marcos Salganicoff, Univ. of Delaware and A. I. duPont Institute (United States)
Shoupu Chen, Univ. of Delaware and A. I. duPont Institute (United States)
Daniel Chester, Univ. of Delaware and A. I. duPont Institute (United States)
Richard Foulds

Published in SPIE Proceedings Vol. 2590:
Telemanipulator and Telepresence Technologies II
Marcos Salganicoff, Editor(s)

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