TY - JOUR
T1 - A two-arm situated artificial communicator for human-robot cooperative assembly
AU - Zhang, Jianwei
AU - Knoll, Alois
N1 - Funding Information:
1Collaborative research centre funded by the Deutsche Forschungsgemein-schaft (DFG).
Funding Information:
Manuscript received January 7, 2002; revised September 9, 2002. Abstract published on the Internet May 26, 2003. This work was supported by the Deutsche Forschungsgemeinschaft (DFG), the German Research Council, under Grant SFB 360. This paper was presented at the 2001 IEEE International Workshop on Robot and Human Interactive Communication, Bordeaux and Paris, France, September 18–21.
PY - 2003/8
Y1 - 2003/8
N2 - We present the development of a robot system with some cognitive capabilities, as well as experimental results. We focus on two topics: assembly by two hands and understanding human instructions in nonconstrained natural language. These two features distinguish human beings from animals, and are, thus, the means leading to high-level intelligence. A typical application of such a system is a human-robot cooperative 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 child whose common-sense knowledge is limited. His instructions can be underspecified, incomplete, and/or context dependent. After introducing the general purpose of our research project, we present the hardware and software components of our robots needed for interactive assembly tasks. We then discuss the control architecture of the robot system with two stationary robot arms by describing the functionalities of perception, instruction understanding, and execution. To show how our robot learns from humans, the implementations of a layered learning methodology, memory, and monitoring functions are introduced. Finally, we outline a list of future research topics related to the enhancement of such systems.
AB - We present the development of a robot system with some cognitive capabilities, as well as experimental results. We focus on two topics: assembly by two hands and understanding human instructions in nonconstrained natural language. These two features distinguish human beings from animals, and are, thus, the means leading to high-level intelligence. A typical application of such a system is a human-robot cooperative 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 child whose common-sense knowledge is limited. His instructions can be underspecified, incomplete, and/or context dependent. After introducing the general purpose of our research project, we present the hardware and software components of our robots needed for interactive assembly tasks. We then discuss the control architecture of the robot system with two stationary robot arms by describing the functionalities of perception, instruction understanding, and execution. To show how our robot learns from humans, the implementations of a layered learning methodology, memory, and monitoring functions are introduced. Finally, we outline a list of future research topics related to the enhancement of such systems.
KW - Cognitive science
KW - Cooperative systems
KW - Learning control systems
KW - Multiple manipulators
KW - Natural language interfaces
UR - http://www.scopus.com/inward/record.url?scp=0042025071&partnerID=8YFLogxK
U2 - 10.1109/TIE.2003.814767
DO - 10.1109/TIE.2003.814767
M3 - Article
AN - SCOPUS:0042025071
SN - 0278-0046
VL - 50
SP - 651
EP - 658
JO - IEEE Transactions on Industrial Electronics
JF - IEEE Transactions on Industrial Electronics
IS - 4
ER -