The Robotics Institute

Carnegie Mellon Robotics Institute

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Abstract

An application of distributed perception to a novel human/computer 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 force/torque 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.

Notes

Sponsor: National Defense Science and Engineering Graduate Fellowship, Sandia National Research Laboratories

Grant ID: NAGI-1075

Number of pages: 20

Text Reference

Richard Voyles and Pradeep Khosla, "Multi-Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification," tech. report CMU-RI-TR-94-33, Robotics Institute, Carnegie Mellon University, September, 1994

BibTeX Reference

@techreport{Voyles_1994_352,
   author = "Richard Voyles and Pradeep Khosla",
   title = "Multi-Agent Perception for Human/Robot Interaction: A Framework for Intuitive Trajectory Modification",
   booktitle = "",
   institution = "Robotics Institute",
   month = "September",
   year = "1994",
   number= "CMU-RI-TR-94-33",
   address= "Pittsburgh, PA",
}

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