ABSTRACT
and a geometric model for representing the interrelationships among the objects and the robot (2) TASK PLANNER: It provides a feasible plan of actions to do a specific task. Its primary work is to decompose a general goal into several subgoals and to use the scheme of hierarchical planning to plan each subgoal. The execution of the rules and the feedback from the environment will fire more rules or complete the task. (3) MOTION PLANNER: It ensures that the complete path falls inside the Soft Arm work space and handles any errors encountered while moving the am. (4) VOICE SYSTEM: Currently the Intro Voice V voice recognition system on a PC sends user commands to the Task Planner through a RS-232 serial link and gives the response from the Task· Planner to the user. It is running in parallel with the planning process, allowing the user to intervene the am execution if necessary. (5) REAL-TIME FACE TRACKING: It is done for collision prediction and avoidance. We have developed a face tracking algorithm which will find a human face in a 2-D image plane and then track the face in real time. The algorithm is a variation on controlled correlation.
