Title :
Data fusion design for skill transfer systems
Author :
Cortesão, Rui ; Koeppe, Ralf
Author_Institution :
Dept. of Electr. Eng., Coimbra Univ., Portugal
Abstract :
In modern robotics, the robot is seen not as a mechanical unit, but instead as an intelligent unit, with planning and cognitive structures that are capable of making intelligent decisions and of helping human beings in high-level and interactive tasks. A new generation of robots is ready to emerge: human-oriented robots. In the near future, they should be able to perform perfect human-robot symbiosis, such as helping disabled people in their basic day-to-day problems. A key issue to accomplish this goal is the development of robust skill transfer systems, in order to teach some basic tasks in a natural way. This paper describes the design of a data fusion module for skill transfer applications. It consists of two independent modules for optimal fusion and filtering. A different interpretation of the Kalman filter equations is made, in order to achieve a “model-free” equation that is capable of following arbitrary variables. The presented fusion algorithm is global, and could easily be extended to any arbitrary system. It was successfully tested in the Institute of Robotics and System Dynamics at the German Aerospace Centre (DLR)
Keywords :
Kalman filters; cognitive systems; intelligent control; learning systems; model reference adaptive control systems; planning (artificial intelligence); robot programming; sensor fusion; Kalman filter; basic task teaching; cognitive structures; data fusion; disabled people; high-level tasks; human-oriented robots; human-robot symbiosis; independent modules; intelligent decisions; interactive tasks; model-free equation; optimal fusion; planning structures; robotics; skill transfer systems; Aerospace testing; Cognitive robotics; Differential equations; Filtering; Fusion power generation; Human robot interaction; Intelligent robots; Intelligent structures; Robustness; Symbiosis;
Conference_Titel :
Emerging Technologies and Factory Automation, 1999. Proceedings. ETFA '99. 1999 7th IEEE International Conference on
Conference_Location :
Barcelona
Print_ISBN :
0-7803-5670-5
DOI :
10.1109/ETFA.1999.813156