Architecture for a Human-Robot Symbiotic SystemProceedings of the IEEE 22nd Southeastern Symposium on System Theory: Cookeville, TN
AbstractThis paper describes a human-robot symbiont that is under development at Oak Ridge National Laboratory. An overview of the symbiotic system is described that motivates the architecture that has been developed. The architecture is a hierarchical structure that consists of several expert systems which reside above a robot control interface. This interface allows the manipulator to be operated in both a teleoperated and autonomous mode. All these processes coexist with the lowest level of the hierarchy, which is a numerically intensive control algorithm. The architecture is implemented on five processors in a coarsely parallel system.
Citation InformationFred W. DePiero, Wayne W. Manges, Reid L. Kress, Mike R. Kedl, et al.. "Architecture for a Human-Robot Symbiotic System" Proceedings of the IEEE 22nd Southeastern Symposium on System Theory: Cookeville, TN (1990) p. 78 - 83
Available at: http://works.bepress.com/fdepiero/5/