Rule tree and man/machine interface for a two-robot cooperative system

A two-robot cooperative system, which can do the chance game, move an object jointly and wind wire into a coil, is proposed. The two manipulators in this system move independently based on the three-level rule base. A competitive learning rule and the communication between the subsystems are introduced to improve the flexibility of the system. In the man/machine interface (MMI), two kinds of MMI, the cooperative level MMI and the one-part level MMI, are introduced. Some physical experiments are done on the basis of the proposed method