While performing any robot operation, a user may interact with the robot in various degrees ranging between two extremes: no interaction and constant interaction. The two control modes associated with these extremes are:
In the course of various R&D activities the A&R section has developed a mode called “Interactive Autonomy” where the benefits of the above modes were combined to achieve maximum flexibility of operation. This is achieved through the partitioning of the robot work into two classes of sub-tasks: the ones that can be carried out by the robot autonomously and the ones that require interaction with the user.
The means for Robot-User Interaction
Of course a user does not interface to the robot directly. The interfacing goes through a chain of devices that on one side convert human intelligible commands into robot commands and on the other side convert robot feedback in human understandable information.
At the beginning of the chain (close to the user) there is a Robot Control Station equipped with a series of Human-machine interfaces (HMI), at the other end there is a robot controller.
According to the type of involvement of the user, different HMI are needed:
Since this mode allows to integrate seamlessly programming and teleoperation modes, further activities have targeted the integration of arm Exoskeletons into the developed Robot Control Stations
Last update: 25 September 2006