Image based operation: a human-robot interaction architecture for intelligent manufacturing

Abstract

A method for interactive robot operation, based on human mental images, is presented. By introducing a multidimensional information structure into a coherent intelligence process architecture, consistency between the system model and the real world is successfully maintained. A mental image of the task is evoked by combination of a visual work space image and action knowledge. The visual image is modeled by transition of a frame system, called the work space model, using a dynamic model matching process. Action knowledge is modeled by a transition network, called the action network, and a schematic description, called the motion schema. The proposed method was verified through a prototype and experiments.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>