Authors:
A. Anier
and
J. Vain
Affiliation:
Tallinn University of Technology, Estonia
Keyword(s):
Assistive robotics, Model based control, Continual planning, Cognitive architecture.
Related
Ontology
Subjects/Areas/Topics:
Applications and Services
;
Computer Vision, Visualization and Computer Graphics
;
Distributed Intelligent Agents
;
Embedded Communications Systems
;
Embedded Robotics
;
Enterprise Information Systems
;
Human and Computer Interaction
;
Human-Computer Interaction
;
Mobile and Pervasive Computing
;
Telecommunications
Abstract:
The paper presents a model based robot planning and control framework for human assistive robots of medical domain, namely for Scrub Nurse Robots. We focus on endoscopic surgery as one of the most relevant surgery type for the use of robotic assistants. We demonstrate that our framework provides means for seamless integration of sensor data capture, cognitive functions, model based continual planning and direct actuator control. The novel component of the architecture is a distributed continual planning system implemented based on the Uppaal model checking and testing tool suite. The distributed and the contract-based modular architecture of proposed framework enables flexible online reconfiguration and adaptability to various applications, but also safe installation of new software components on-the-fly.