A Multi-modal Teaching-Advisory System using Complementary Operator and Sensor Information - Robot and Human Communication, 1995. RO-MAN'95 TOKYO, Proceedings., 4th IEEE International Worksho

A multi-modal teaching-advisory system for sensor-based robot systems is presented that uses complementary information obtained from the operator and sensors. W e propose a new framework for on-site robot teaching systems that takes account of the characteristics of humans and sensors. This framework enables the teaching system to integrate a variety of robot task constraints, task specifications, their tolerances as defined by the operator, and sensing information acquired by the sensors in a complementary manner. The system synthesizes all of this information into a form that is easily understood by the operator. Finally, the synthesized information is presented to the operator as multi-modal information. B y combining this advisory information with the operator’s own information, the desired robot teaching commands can be generated. This system can significantly improve total robot system performance by ensuring high-quality teaching.