Architecture For Dynamic Task Allocation In A Man-Robot Symbiotic System

Abstract

This paper presents a methodological approach to the dynamic allocation of tasks in a man-machine symbiotic system in the context of dexterous manipulation and teleoperation. This paper addresses symbiosis containing two partners that work toward controlling a single manipulator arm for the execution of a series of sequential manipulation subtasks. The proposed automated task allocator uses knowledge about the allocation policies of the problem, the available resources, and the tasks to be performed to dynamically allocate tasks to the man and the machine.