Design and Implementation of a Supervised Intelligent Function

摘要

This paper presents a generic design and implementation of one of the most useful functions required by intelligent living systems. The described system is capable of using an autonomous strategy for searching modelled objects in its environment, localising their positions, evaluating the safety of the intended actions by anticipating them in virtual worlds, and finally moving towards them for compliant contact and manipulation. To work in all conditions, the system enables a flexible multi-modal interaction and a gradual human intervention, co-operation and co-assistance with the machine. Our experiments, carried out with a 6 degrees-of-freedom robot, definitely confirm the possibility to use Integrated Supervisory Control systems as adaptive, safe and efficient synergetic human-machine systems for coping with various real-world applications.