SPECIFIC COMBINED CONTROL MECHANISMS FOR HUMAN ROBOT CO-OPERATION

摘要

Human robot co-operation strongly requires flexibility and reactivity of a robotic system. This leads to disappearing distinctions between planning, reactive planning and reactive control, as intuitive control of a robot is not possible without considering the actual task, which already touches an aspect of task planning. We have created a set of different control mechanisms instead of three to four standard control modes in order to regain a strict distinction between reactive planning, which selects control modes and delivers corresponding parameters, and actual control. In this paper we present the designed control modes necessary for human robot co-operation, their usage by distributed planning modules and the switching between different control modes.