Dynamic task allocation for a man-machine symbiotic system
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 symbiotic partners which work toward controlling a single manipulator arm for the execution of a series of sequential manipulation tasks. The proposed automatic task allocator used knowledge about the constraints/criteria of the problem, the available resources, the tasks to be performed, and the environment to dynamically allocate tasks to the man and the machine. The presentation of the methodology includes discussions concerning the characteristics of the man-machine symbiotic system, the interaction of the knowledge areas, the flow of execution, and the dynamic nature of the task allocation.
- Research Organization:
- Oak Ridge National Lab., TN (USA)
- DOE Contract Number:
- AC05-84OR21400
- OSTI ID:
- 6487930
- Report Number(s):
- CONF-870591-2; ON: DE87008594
- Resource Relation:
- Conference: Goddard conference on space applications of artificial intelligence and robotics, Greenbelt, MD, USA, 14 May 1987; Other Information: Portions of this document are illegible in microfiche products
- Country of Publication:
- United States
- Language:
- English
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