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knowledge-driven planning

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Knowledge Driven Planning and Multimodal Control of a Telerobot
Zunaid Kazi, Richard Foulds
Journal:

Robotica / Volume 16 / Issue 5 / September 1998

Published online by Cambridge University Press:

01 September 1998, pp. 509-516
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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.