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

Conference · Thu Jan 01 04:00:00 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
• Country of Publication: United States
• Language: English

Related Subjects

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