智能系统学报2012，Vol.7Issue(3)：251-258,8.DOI:10.3969/j.issn.1673-4785.201110006
基于认知模型的室内移动服务机器人人机耦合协同作业机制
A mechanism of human-robot coupling and collaborative operation for indoor mobile service robots based on a cognitive architecture model
摘要
Abstract
For developing a human-machine intelligent system consisting of mobile service robots and special users, such as the elderly and disabled, a mechanism of human-robot coupling and collaborative operation based on an a-daptive control of thought-rational (ACT-R) cognitive architecture model was put forward in this paper. A system of human-robot integration and collaborative operation for indoor mobile service robots was generally designed based on ACT-R cognitive architecture. A human-robot coupling intelligent interface was designed based on ACT-R cognitive architecture in this system through simple natural human-robot interaction modalities. An operation mechanism of human-robot integration and collaborative decision for indoor mobile service robots was proposed and established through human-robot-environment space perception coupling. Finally, an experiment of human-robot coupling and collaborative operation was conducted safely and efficiently in an indoor environment, thus verifying the feasibility of the mechanism.关键词
认知模型/ACT-R认知架构/服务机器人/室内移动服务机器人/人机耦合/协同作业/人机一体化Key words
cognitive architecture model/ ACT-R cognitive architecture/ service robot/ indoor mobile service robot/ human-robot coupling/ collaborative operation/ human-robot integration分类
信息技术与安全科学引用本文复制引用
江济良,屠大维,张国栋,赵其杰..基于认知模型的室内移动服务机器人人机耦合协同作业机制[J].智能系统学报,2012,7(3):251-258,8.基金项目
国家自然科学基金资助项目 (51075252,61101177) （51075252,61101177）
上海大学研究生创新基金资助项目(SHUCX112205,SHUCX112209). （SHUCX112205,SHUCX112209）
