Scara3D: 3-Dimensional HRI integrated to a distributed control architecture for remote and cooperative actuation

ABSTRACT

During the last years, service robots have been widely applied in home and office automation tasks. The major challenge faced at present by researchers in this area lies on the capability of humans and robots to share the same environment safely. Despite the feet that several solutions for this problem involving service robots have already been presented, this subject is rarely discussed involving industrial manipulators. In this paper we present a new approach of multilayer architecture for distributed control of manipulator robots. The proposed model describes layers to implement cooperative and collaborative behaviors among robots and human beings based on an appropriate model of rules. The Scara3D, a Human-Robot Interface, is presented as an application for the architecture's Virtual Environment Creator layer.

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INDEX TERMS

Primary Classification:
  I. Computing Methodologies
  I.2 ARTIFICIAL INTELLIGENCE
      I.2.9 Robotics

General Terms:
Design, Experimentation

Keywords:
HRI, collaboration, cooperation, distributed control architecture