论文标题
一种基于意图的方法来创建辅助机器人的控制系统
An intent-based approach for creating assistive robots' control systems
论文作者
论文摘要
机器人技术的当前研究标准要求对机器人控制器开发的一般方法。在辅助机器人域中，人机相互作用起着重要作用。特别是人类产生影响机器人控制系统的意图。在本文中提出了一种方法，用于为辅助机器人创建控制系统，该机器人对语音命令，按钮或操作员控制台提供的用户意图做出反应。整个方法应用于由定制的Tiago机器人和其他硬件组件组成的实际系统。在平台上进行的示例性实验说明了辅助机器人中人机界面多样化的动机。
The current research standards in robotics demand general approaches to robots' controllers development. In the assistive robotics domain, the human-machine interaction plays a substantial role. Especially, the humans generate intents that affect robot control system. In the article an approach is presented for creating control systems for assistive robots, which reacts to users' intents delivered by voice commands, buttons, or an operator console. The whole approach was applied to the real system consisting of customised TIAGo robot and additional hardware components. The exemplary experiments performed on the platform illustrate the motivation for diversification of human-machine interfaces in assistive robots.
