Compliant Human-Robot Cooperation Based on Intention Recognition

摘要

A compliant human-machine interaction architecture is presented. It is based on the machine intention recognition of the human. This work is motivated by the desire to minimize the need for classical direct human-machine interface and communication. Here, the intention-action-state scenario is modified and modelled by dynamic Bayesian networks to facilitate for probabilistic intention inference. The recognized intention, then, drives the interactive behaviour of the machine such that it complies with the human intention in light of the real state of the world. An illustrative example of a human commanding a mobile robot remotely is given and discussed in details