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

作　　者：江济良[1,2] 屠大维[1,2] 张国栋[1,2] 赵其杰[1,2] 

机构地区：[1]上海大学机电工程与自动化学院,上海200072 [2]上海大学上海市机械自动化及机器人重点实验室,上海200072

出　　处：《智能系统学报》2012年第3期251-258,共8页CAAI Transactions on Intelligent Systems

基　　金：国家自然科学基金资助项目(51075252,61101177);上海大学研究生创新基金资助项目(SHUCX112205,SHUCX112209)

摘　　要：针对老年人和残疾人这类特殊用户群体与服务机器人构成的人机智能系统,提出了基于ACT-R(理性思维的适应性控制)认知架构模型的室内移动服务机器人人机耦合协同作业机制.基于ACT-R认知架构对人机一体化室内移动服务机器人人机协同作业系统进行了总体设计,利用简单自然的人机效应通道,设计了基于ACT-R认知架构的人机耦合界面;通过人-机-环境空间感知耦合,提出并建立了室内移动服务机器人人机一体化协同决策作业机制.最后在室内环境下进行移动服务机器人人机协同作业实验,系统安全高效地完成了作业任务,验证了该机制的有效性.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 adaptive 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 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]