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Interfacing Intelligent Software to Robotic Peripherals

  • Nancy E. Orlando
Conference paper

Abstract

This research addresses the problems of connecting artificially intelligent software to robotic hardware peripherals. A modelling framework for the study of these problems is presented. In particular, an attempt is made to integrate concepts from physiological psychology in a structural model of robotic behavior. Research plans are discussed for the implementation and assessment of the capability of this general model to overcome the traditional difficulties of interfacing task plans with robotic hardware. These difficulties include declarative versus procedural control, symbolic versus numeric computing environments, task-level versus robot-level languages, differing speed and bandwidth requirements, and differing scope and granularity of robotic peripherals.

This model is the working design for the control and communication structure of DAISIE ( Distributed Artificially Intelligent System for Interacting with the Environment), a testbed for intelligent telerobotic research developed at the NASA Langley Research Center. The use of this model in the projected implementation of telerobotic tasks for space operations is briefly described.

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References

  1. Albus, J. S., Barbera, A. J., and Nagel, R. N. (1981) Theory and Practice of Hierarchical Control. Proceedings of the Twenty-Third IEEE Computer Society International Conference.Google Scholar
  2. Gallistel, C. R. (1980) The Organization of Action: A New Synthesis. Lawrence Erlbaum Associates, Inc., Hillsdale, New Jersey.Google Scholar
  3. Harrison, F. W. and Orlando, N. E. (1984) System-Level Approach to Automation. Presented at the Fourth Annual UAH/UAB Robotics Conference, Alabama.Google Scholar
  4. Orlando, N. E. (1983) A System for Intelligent Teleoperation Research. Presented at the AIAA Computers in Aerospace IV Conference, Connecticut.Google Scholar
  5. Orlando, N. E. (1984) An Intelligent Robotics Control Scheme. Presented at the American Controls Conference, California.Google Scholar
  6. Sacerdoti, E. D. (1974) Planning in a Hierarchy of Abstraction Spaces. Artificial Intelligence 5:115–135.CrossRefzbMATHGoogle Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 1986

Authors and Affiliations

  • Nancy E. Orlando
    • 1
  1. 1.NASA Langley Research CenterUSA

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