Accession Number:

ADA289399

Title:

Multi -Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification.

Descriptive Note:

Technical rept.,

Corporate Author:

CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s):

• Voyles, Richard M., Jr.
• Khosia, Pradeep K.

Report Date:

1994-09-15

Pagination or Media Count:

25.0

Abstract:

An application of distributed perception to a novel humancomputer interface is presented. A multi-agent network has been applied to the task of modifying a robotic trajectory based on very sparse physical inputs from the user. The user conveys intentions by nudging the end effector, instrumented with a wrist forcetorque sensor, in an intuitive manner. In response, each agent interprets these sparse inputs with the aid of a local, fuzzified, heuristic model of a particular parameter or trajectory shape. The agents then independently determine the confidence of their respective findings and distributed arbitration resolves the interpretation through voting.

Descriptors:

• *ROBOTICS
• *MAN COMPUTER INTERFACE
• *TRAJECTORIES
• *WRIST
• COMPUTER PROGRAMS
• DETECTORS
• MODELS
• NETWORKS
• DISTRIBUTION
• HUMANS
• INTERACTIONS
• MODIFICATION
• ROBOTS
• SHAPE
• HUMAN FACTORS ENGINEERING
• HEURISTIC METHODS
• PERCEPTION
• TORQUE
• FORCE(MECHANICS)
• CHEMICAL AGENT DETECTORS
• BARGAINING

Subject Categories:

• Human Factors Engineering and Man Machine Systems
• Bionics

Distribution Statement:

APPROVED FOR PUBLIC RELEASE