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Knowledge Driven Planning and Multimodal Control of a Telerobot

Published online by Cambridge University Press:  01 September 1998

Zunaid Kazi  and
Richard Foulds
Zunaid Kazi
Affiliation:
Applied Science and Engineering Laboratories, duPont Hospital for Children and the University of Delaware, P.O. Box 269, Wilmington DE 19899, USA. http://www.asel.udel.edu/robotics/musiic/
Richard Foulds
Affiliation:
Applied Science and Engineering Laboratories, duPont Hospital for Children and the University of Delaware, P.O. Box 269, Wilmington DE 19899, USA. http://www.asel.udel.edu/robotics/musiic/
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Abstract

The Multimodal User Supervised Interface and Intelligent Control (MUSIIC) project focuses on a multimodal human-machine interface which addresses user need to manipulate familiar objects in an unstructured environment. The control of a robot by individuals with significant physical limitations presents a challenging problem of telemanipulation. This is addressed by a unique user-interface integrating the user's command (speech) and gestures (pointing) with autonomous planning techniques (knowledge-bases and 3-D vision). The resultant test-bed offers the opportunity to study telemanipulation by individuals with physical disabilities, and can be generalized to an effective technique for other, including remote and time-delayed, telemanipulation. This paper focuses on the knowledge-driven planning mechanism that is central to the MUSIIC system.

Keywords

Knowledge-driven planningHuman-computer interfaceTelerobotMultimodal interfaceSupervisory control
Type
Research Article
Information
Robotica , Volume 16 , Issue 5 , September 1998 , pp. 509 - 516
Copyright
© 1998 Cambridge University Press

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