Architecture for dynamic task allocation in a man-robot symbiotic system

Conference · Thu Jan 01 00:00:00 EST 1987

OSTI ID:6143422

Parker, L E; Pin, F G

This paper presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This paper addresses symbiosis containing two partners that work toward controlling a single manipulator arm for the execution of a series of sequential manipulation subtasks. The proposed automated task allocator uses knowledge about the allocation policies of the problem, the available resources, and the tasks to be performed to dynamically allocate tasks to the man and the machine. 6 refs.

• Research Organization: Oak Ridge National Lab., TN (USA)
• DOE Contract Number: AC05-84OR21400
• OSTI ID: 6143422
• Report Number(s): CONF-871163-2; ON: DE87013872
• Resource Relation: Conference: SPIE Cambridge symposium on intelligent robots and computer vision, Cambridge, MA, USA, 1 Nov 1987; Other Information: Paper copy only, copy does not permit microfiche production
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
99 GENERAL AND MISCELLANEOUS//MATHEMATICS, COMPUTING, AND INFORMATION SCIENCE
MAN-MACHINE SYSTEMS
TASK SCHEDULING
ALLOCATIONS
AUTOMATION
MANIPULATORS
RECOMMENDATIONS
REMOTE HANDLING
ROBOTS
DATA PROCESSING
EQUIPMENT
LABORATORY EQUIPMENT
MATERIALS HANDLING EQUIPMENT
PROCESSING
REMOTE HANDLING EQUIPMENT
420200* - Engineering- Facilities
Equipment
& Techniques
990210 - Supercomputers- (1987-1989)