Methods and systems for enabling human-machine collaboration include generalizable frameworks (320, 350) that support the dynamic adaptation and reuse of robot capability representations and human-machine collaborative actions. Specifically, a computer-implemented method (600, 700, 800) for enabling user-robot collaboration comprises providing (614) a configuration (FIG. 2, 400) of user interaction capabilities and robot capabilities (Table 1), comprising: The robot capability may include modeling the functionality of the robot 340 , 380 to perform a type of task action based on a set of parameters; specializing (616, 714, 716) robot capabilities with an information kernel encapsulating a set of parameters; providing ( 712 , 714 , 716 ) a robot capability component based on the robot capability and information kernel and providing ( 718 ) an interactive capability component based on the user interaction capability; coupling (618, 800) the robotic capability element to the interactive capability element; providing (620) a user interface (310, 370, 500) based on the interactive capability element to obtain a user input (510, 520, 530, 540) associated with the set of parameters; and controlling 620 the functionality of the robot via the robot capability element based on the user input and the information kernel to perform the task action of the type of task action.
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