Design and implementation of a command processor for high level human-robot interaction system

Authors:
Medha S. Sarkar;Abisoye Mudasiru;Nilanjan Sarkar
Affiliations:
Middle Tennessee State University, Murfreesboro, TN;Middle Tennessee State University, Murfreesboro, TN;Vanderbilt University, Nashville, TN
Venue:
ACM-SE 45 Proceedings of the 45th annual southeast regional conference
Year:
2007

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Abstract

This paper presents an innovative semi-autonomous human-robot interaction concept for people with severe disability and discusses a proof-of-concept prototype system. The user communicates with the robot through electromyographic (EMG) signals. However, unlike most EMG controlled robotic operations, here the user can issue high-level commands to the robot. This would allow people with severe disability to access robots that can help them in activities of daily living. This paper describes a high-level command processor that translates high-level commands issued by a disabled user to perform certain activities of daily living (ADL), into a sequence of lower level commands that are executable by a robot. The command processor is implemented using TXL (Tree Transformation Language).