A HIGH-LEVEL COMMAND PROCESSOR FOR HUMAN-ROBOT INTERACTION SYSTEM

摘要

This paper presents a new semi-autonomous human-robot interaction concept for people with severe disability and discusses a proof-of-concept prototype system. The user communicates with the robot through electromyographic (EMG) signals. However, unlike most EMG controlled robotic operations, here the user can issue high-level commands to the robot. This would allow people with severe disability to access robots that can help them in activities of daily living. This paper describes the high-level command processor that translates high-level commands issued by a disabled user to perform certain activities of daily living (ADL), into a sequence of lower level commands that are executable by a robot. The command processor is implemented using TXL (Tree Transformation Language).