Interactive assembly by a two-arm robot agent
Identifieur interne : 000984 ( Istex/Corpus ); précédent : 000983; suivant : 000985Interactive assembly by a two-arm robot agent
Auteurs : Jianwei Zhang ; Yorck Von Collani ; Alois KnollSource :
- Robotics and Autonomous Systems [ 0921-8890 ] ; 1999.
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 understanding and 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 with two stationary robot arms is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The development tool used for modularly realising these functionalities is presented. The implementation of a learning methodology for a general sensor/actor system is briefly introduced.
Url:
DOI: 10.1016/S0921-8890(99)00041-X
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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 with two stationary robot arms is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The development tool used for modularly realising these functionalities is presented. The implementation of a learning methodology for a general sensor/actor system is briefly introduced.</div></front></TEI><istex><corpusName>elsevier</corpusName><author><json:item><name>Jianwei Zhang</name><affiliations><json:string>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</json:string><json:string>E-mail: zhang@techfak.uni-bielefeld.de</json:string></affiliations></json:item><json:item><name>Yorck von Collani</name><affiliations><json:string>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</json:string><json:string>E-mail: zhang@techfak.uni-bielefeld.de</json:string></affiliations></json:item><json:item><name>Alois Knoll</name><affiliations><json:string>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</json:string><json:string>E-mail: zhang@techfak.uni-bielefeld.de</json:string></affiliations></json:item></author><subject><json:item><lang><json:string>eng</json:string></lang><value>Human–robot interface</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Cognition architecture</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Sensor-based control</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Skill learning</value></json:item><json:item><lang><json:string>eng</json:string></lang><value>Multiple sensor/actor systems</value></json:item></subject><language><json:string>eng</json:string></language><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 understanding and 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 with two stationary robot arms is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The development tool used for modularly realising these functionalities is presented. The implementation of a learning methodology for a general sensor/actor system is briefly introduced.</abstract><qualityIndicators><score>6.018</score><pdfVersion>1.2</pdfVersion><pdfPageSize>612 x 792 pts (letter)</pdfPageSize><refBibsNative>true</refBibsNative><keywordCount>5</keywordCount><abstractCharCount>1085</abstractCharCount><pdfWordCount>4086</pdfWordCount><pdfCharCount>25693</pdfCharCount><pdfPageCount>10</pdfPageCount><abstractWordCount>161</abstractWordCount></qualityIndicators><title>Interactive assembly by a two-arm robot agent</title><pii><json:string>S0921-8890(99)00041-X</json:string></pii><genre><json:string>research-article</json:string></genre><host><volume>29</volume><pii><json:string>S0921-8890(00)X0048-6</json:string></pii><pages><last>100</last><first>91</first></pages><issn><json:string>0921-8890</json:string></issn><issue>1</issue><genre><json:string>Journal</json:string></genre><language><json:string>unknown</json:string></language><title>Robotics and Autonomous Systems</title><publicationDate>1999</publicationDate></host><categories><wos><json:string>AUTOMATION & CONTROL SYSTEMS</json:string><json:string>COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE</json:string><json:string>ROBOTICS</json:string></wos></categories><publicationDate>1999</publicationDate><copyrightDate>1999</copyrightDate><doi><json:string>10.1016/S0921-8890(99)00041-X</json:string></doi><id>7428386B7AEE28B3344AB053619C9021B451E40A</id><fulltext><json:item><original>true</original><mimetype>application/pdf</mimetype><extension>pdf</extension><uri>https://api.istex.fr/document/7428386B7AEE28B3344AB053619C9021B451E40A/fulltext/pdf</uri></json:item><json:item><original>true</original><mimetype>text/plain</mimetype><extension>txt</extension><uri>https://api.istex.fr/document/7428386B7AEE28B3344AB053619C9021B451E40A/fulltext/txt</uri></json:item><json:item><original>false</original><mimetype>application/zip</mimetype><extension>zip</extension><uri>https://api.istex.fr/document/7428386B7AEE28B3344AB053619C9021B451E40A/fulltext/zip</uri></json:item><istex:fulltextTEI uri="https://api.istex.fr/document/7428386B7AEE28B3344AB053619C9021B451E40A/fulltext/tei"><teiHeader><fileDesc><titleStmt><title level="a">Interactive assembly by a two-arm robot agent</title></titleStmt><publicationStmt><authority>ISTEX</authority><publisher>ELSEVIER</publisher><availability><p>ELSEVIER</p></availability><date>1999</date></publicationStmt><notesStmt><note type="content">Fig. 1: The assembly of a toy aircraft.</note><note type="content">Fig. 2: Two-arm robot system in an assembly scenario.</note><note type="content">Fig. 3: Control architecture of the communicative robot agent.</note><note type="content">Fig. 4: Architecture of OPERA.</note><note type="content">Fig. 5: GUI of OPERA: (1) Window for messages; (2) running script; (3) robot state; (4) system menu; (5) custom menu; (6) sensor display.</note><note type="content">Fig. 6: Examples of elementary operations.</note><note type="content">Fig. 7: Correction sequence guided by a hand-camera.</note><note type="content">Fig. 8: Tow aggregates made by our interactive assembly system.</note></notesStmt><sourceDesc><biblStruct type="inbook"><analytic><title level="a">Interactive assembly by a two-arm robot agent</title><author><persName><forename type="first">Jianwei</forename><surname>Zhang</surname></persName><email>zhang@techfak.uni-bielefeld.de</email><note type="correspondence"><p>Corresponding author. Tel: +49-521-106-2951/2952; fax: +49-521-106-6440</p></note><affiliation>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</affiliation></author><author><persName><forename type="first">Yorck</forename><surname>von Collani</surname></persName><email>zhang@techfak.uni-bielefeld.de</email><affiliation>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</affiliation></author><author><persName><forename type="first">Alois</forename><surname>Knoll</surname></persName><email>zhang@techfak.uni-bielefeld.de</email><affiliation>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</affiliation></author></analytic><monogr><title level="j">Robotics and Autonomous Systems</title><title level="j" type="abbrev">ROBOT</title><idno type="pISSN">0921-8890</idno><idno type="PII">S0921-8890(00)X0048-6</idno><imprint><publisher>ELSEVIER</publisher><date type="published" when="1999"></date><biblScope unit="volume">29</biblScope><biblScope unit="issue">1</biblScope><biblScope unit="page" from="91">91</biblScope><biblScope unit="page" to="100">100</biblScope></imprint></monogr><idno type="istex">7428386B7AEE28B3344AB053619C9021B451E40A</idno><idno type="DOI">10.1016/S0921-8890(99)00041-X</idno><idno type="PII">S0921-8890(99)00041-X</idno></biblStruct></sourceDesc></fileDesc><profileDesc><creation><date>1999</date></creation><langUsage><language ident="en">en</language></langUsage><abstract xml:lang="en"><p>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 understanding and 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 with two stationary robot arms is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The development tool used for modularly realising these functionalities is presented. The implementation of a learning methodology for a general sensor/actor system is briefly introduced.</p></abstract><textClass><keywords scheme="keyword"><list><head>Keywords</head><item><term>Human–robot interface</term></item><item><term>Cognition architecture</term></item><item><term>Sensor-based control</term></item><item><term>Skill learning</term></item><item><term>Multiple sensor/actor systems</term></item></list></keywords></textClass></profileDesc><revisionDesc><change when="1999">Published</change></revisionDesc></teiHeader></istex:fulltextTEI></fulltext><metadata><istex:metadataXml wicri:clean="Elsevier, elements deleted: ce:floats; body; tail"><istex:xmlDeclaration>version="1.0" encoding="utf-8"</istex:xmlDeclaration><istex:docType PUBLIC="-//ES//DTD journal article DTD version 4.5.2//EN//XML" URI="art452.dtd" name="istex:docType"><istex:entity SYSTEM="gr1" NDATA="IMAGE" name="gr1"></istex:entity><istex:entity SYSTEM="gr2" NDATA="IMAGE" name="gr2"></istex:entity><istex:entity SYSTEM="gr3" NDATA="IMAGE" name="gr3"></istex:entity><istex:entity SYSTEM="gr4" NDATA="IMAGE" name="gr4"></istex:entity><istex:entity SYSTEM="gr5" NDATA="IMAGE" name="gr5"></istex:entity><istex:entity SYSTEM="gr6" NDATA="IMAGE" name="gr6"></istex:entity><istex:entity SYSTEM="gr7" NDATA="IMAGE" name="gr7"></istex:entity><istex:entity SYSTEM="gr8" NDATA="IMAGE" name="gr8"></istex:entity><istex:entity SYSTEM="fx1" NDATA="IMAGE" name="fx1"></istex:entity><istex:entity SYSTEM="fx2" NDATA="IMAGE" name="fx2"></istex:entity><istex:entity SYSTEM="fx3" NDATA="IMAGE" name="fx3"></istex:entity></istex:docType><istex:document><converted-article version="4.5.2" docsubtype="fla"><item-info><jid>ROBOT</jid><aid>784</aid><ce:pii>S0921-8890(99)00041-X</ce:pii><ce:doi>10.1016/S0921-8890(99)00041-X</ce:doi><ce:copyright type="full-transfer" year="1999">Elsevier Science B.V.</ce:copyright></item-info><head><ce:title>Interactive assembly by a two-arm robot agent</ce:title><ce:author-group><ce:author biographyid="VT1"><ce:given-name>Jianwei</ce:given-name><ce:surname>Zhang</ce:surname><ce:cross-ref refid="CORR1">*</ce:cross-ref><ce:e-address>zhang@techfak.uni-bielefeld.de</ce:e-address></ce:author><ce:author biographyid="VT2"><ce:given-name>Yorck</ce:given-name><ce:surname>von Collani</ce:surname><ce:e-address>ycollani@techfak.uni-bielefeld.de</ce:e-address></ce:author><ce:author biographyid="VT3"><ce:given-name>Alois</ce:given-name><ce:surname>Knoll</ce:surname><ce:e-address>knoll@techfak.uni-bielefeld.de</ce:e-address></ce:author><ce:affiliation><ce:textfn>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</ce:textfn></ce:affiliation><ce:correspondence id="CORR1"><ce:label>*</ce:label><ce:text>Corresponding author. Tel: +49-521-106-2951/2952; fax: +49-521-106-6440</ce:text></ce:correspondence></ce:author-group><ce:abstract><ce:section-title>Abstract</ce:section-title><ce:abstract-sec><ce:simple-para>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 understanding and 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.</ce:simple-para><ce:simple-para>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 with two stationary robot arms is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The development tool used for modularly realising these functionalities is presented. The implementation of a learning methodology for a general sensor/actor system is briefly introduced.</ce:simple-para></ce:abstract-sec></ce:abstract><ce:keywords class="keyword"><ce:section-title>Keywords</ce:section-title><ce:keyword><ce:text>Human–robot interface</ce:text></ce:keyword><ce:keyword><ce:text>Cognition architecture</ce:text></ce:keyword><ce:keyword><ce:text>Sensor-based control</ce:text></ce:keyword><ce:keyword><ce:text>Skill learning</ce:text></ce:keyword><ce:keyword><ce:text>Multiple sensor/actor systems</ce:text></ce:keyword></ce:keywords></head></converted-article></istex:document></istex:metadataXml><mods version="3.6"><titleInfo><title>Interactive assembly by a two-arm robot agent</title></titleInfo><titleInfo type="alternative" contentType="CDATA"><title>Interactive assembly by a two-arm robot agent</title></titleInfo><name type="personal"><namePart type="given">Jianwei</namePart><namePart type="family">Zhang</namePart><affiliation>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</affiliation><affiliation>E-mail: zhang@techfak.uni-bielefeld.de</affiliation><description>Corresponding author. Tel: +49-521-106-2951/2952; fax: +49-521-106-6440</description><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Yorck</namePart><namePart type="family">von Collani</namePart><affiliation>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</affiliation><affiliation>E-mail: zhang@techfak.uni-bielefeld.de</affiliation><role><roleTerm type="text">author</roleTerm></role></name><name type="personal"><namePart type="given">Alois</namePart><namePart type="family">Knoll</namePart><affiliation>Technical Computer Science, Faculty of Technology, University of Bielefeld, 33501 Bielefeld, Germany</affiliation><affiliation>E-mail: zhang@techfak.uni-bielefeld.de</affiliation><role><roleTerm type="text">author</roleTerm></role></name><typeOfResource>text</typeOfResource><genre type="research-article" displayLabel="Full-length article"></genre><originInfo><publisher>ELSEVIER</publisher><dateIssued encoding="w3cdtf">1999</dateIssued><copyrightDate encoding="w3cdtf">1999</copyrightDate></originInfo><language><languageTerm type="code" authority="iso639-2b">eng</languageTerm><languageTerm type="code" authority="rfc3066">en</languageTerm></language><physicalDescription><internetMediaType>text/html</internetMediaType></physicalDescription><abstract lang="en">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 understanding and 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 with two stationary robot arms is discussed. We then describe the functionalities of the cognition, scheduling and execution levels. The development tool used for modularly realising these functionalities is presented. The implementation of a learning methodology for a general sensor/actor system is briefly introduced.</abstract><note type="content">Fig. 1: The assembly of a toy aircraft.</note><note type="content">Fig. 2: Two-arm robot system in an assembly scenario.</note><note type="content">Fig. 3: Control architecture of the communicative robot agent.</note><note type="content">Fig. 4: Architecture of OPERA.</note><note type="content">Fig. 5: GUI of OPERA: (1) Window for messages; (2) running script; (3) robot state; (4) system menu; (5) custom menu; (6) sensor display.</note><note type="content">Fig. 6: Examples of elementary operations.</note><note type="content">Fig. 7: Correction sequence guided by a hand-camera.</note><note type="content">Fig. 8: Tow aggregates made by our interactive assembly system.</note><subject><genre>Keywords</genre><topic>Human–robot interface</topic><topic>Cognition architecture</topic><topic>Sensor-based control</topic><topic>Skill learning</topic><topic>Multiple sensor/actor systems</topic></subject><relatedItem type="host"><titleInfo><title>Robotics and Autonomous Systems</title></titleInfo><titleInfo type="abbreviated"><title>ROBOT</title></titleInfo><genre type="Journal">journal</genre><originInfo><dateIssued encoding="w3cdtf">19991031</dateIssued></originInfo><identifier type="ISSN">0921-8890</identifier><identifier type="PII">S0921-8890(00)X0048-6</identifier><part><date>19991031</date><detail type="volume"><number>29</number><caption>vol.</caption></detail><detail type="issue"><number>1</number><caption>no.</caption></detail><extent unit="issue pages"><start>1</start><end>108</end></extent><extent unit="pages"><start>91</start><end>100</end></extent></part></relatedItem><identifier type="istex">7428386B7AEE28B3344AB053619C9021B451E40A</identifier><identifier type="DOI">10.1016/S0921-8890(99)00041-X</identifier><identifier type="PII">S0921-8890(99)00041-X</identifier><accessCondition type="use and reproduction" contentType="">© 1999Elsevier Science B.V.</accessCondition><recordInfo><recordContentSource>ELSEVIER</recordContentSource><recordOrigin>Elsevier Science B.V., ©1999</recordOrigin></recordInfo></mods></metadata><enrichments><istex:catWosTEI uri="https://api.istex.fr/document/7428386B7AEE28B3344AB053619C9021B451E40A/enrichments/catWos"><teiHeader><profileDesc><textClass><classCode scheme="WOS">AUTOMATION & CONTROL SYSTEMS</classCode><classCode scheme="WOS">COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE</classCode><classCode scheme="WOS">ROBOTICS</classCode></textClass></profileDesc></teiHeader></istex:catWosTEI></enrichments><serie></serie></istex></record>Pour manipuler ce document sous Unix (Dilib)
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