Sökning: onr:"swepub:oai:DiVA.org:kth-16036" >
Online task recogni...
Online task recognition and real-time adaptive assistance for computer-aided machine control
-
- Ekvall, Staffan (författare)
- KTH,Datorseende och robotik, CVAP
-
- Aarno, Daniel (författare)
- KTH,Numerisk Analys och Datalogi, NADA
-
- Kragic, Danica (författare)
- KTH,Centrum för Autonoma System, CAS
-
(creator_code:org_t)
- 2006
- 2006
- Engelska.
-
Ingår i: IEEE Transactions on robotics. - 1552-3098 .- 1941-0468. ; 22:5, s. 1029-1033
- Relaterad länk:
-
https://urn.kb.se/re...
-
visa fler...
-
https://doi.org/10.1...
-
visa färre...
Abstract
Ämnesord
Stäng
- Segmentation and recognition of operator-generated motions are commonly facilitated to provide appropriate assistance during task execution in teleoperative and human-machine collaborative settings. The assistance is usually provided in a virtual fixture framework where the level of compliance can be altered online, thus improving the performance in terms of execution time and overall precision. However, the fixtures are typically inflexible, resulting in a degraded performance in cases of unexpected obstacles or incorrect fixture models. In this paper, we present a method for online task tracking and propose the use of adaptive virtual fixtures that can cope with the above problems. Here, rather than executing a predefined plan, the operator has the ability to avoid unforeseen obstacles and deviate from the model. To allow this, the probability of following a certain trajectory (subtask) is estimated and used to automatically adjusts the compliance, thus providing the online decision of how to fixture the movement.
Ämnesord
- NATURVETENSKAP -- Data- och informationsvetenskap -- Datorseende och robotik (hsv//swe)
- NATURAL SCIENCES -- Computer and Information Sciences -- Computer Vision and Robotics (hsv//eng)
Nyckelord
- Hidden Markov models (HMMs)
- human-machine collaborative systems (HMCSs)
- support vector machines (SVMs)
- virtual fixtures
Publikations- och innehållstyp
- ref (ämneskategori)
- art (ämneskategori)
Hitta via bibliotek
Till lärosätets databas