Abstract
The development of a robotic system interacting with a human instructor requires not only highly-skilled sensorimotor coordination and action planning but also the capability of communicating with a human being in a natural way. A typical application of such a system is interactive assembly. A human communicator sharing a view of the assembly scenario with the robot instructs the latter by speaking to it in the same way that he would communicate with a human partner. His instructions can be under-specified, incomplete and/or context-dependent. After introducing the general purpose of our project, we present the hardware and software components of a robot agent necessary for interactive assembly tasks. The architecture of the robot agent is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The implementation of a learning methodology for a general sensor/actor system is also introduced.
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© 1998 Springer-Verlag Berlin Heidelberg
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Zhang, J., Von Collani, Y., Knoll, A. (1998). Development of a Robot Agent for Interactive Assembly. In: Distributed Autonomous Robotic Systems 3. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-72198-4_27
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DOI: https://doi.org/10.1007/978-3-642-72198-4_27
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-72200-4
Online ISBN: 978-3-642-72198-4
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