Design and implementation of a supervised intelligent function

This paper presents a generic design and implementation of one of the most useful functions required by intelligent living systems. The described system is capable of using an autonomous strategy for searching modelled objects in its environment , localising their positions, evaluating the safety of the intended actions by anticipating them in virtual worlds, and nally moving towards them for compliant contact and manipulation. To work in all conditions, the system enables a exible multi-modal interaction and a gradual human intervention , cooperation and co-assistance with the machine. Our experiments, carried out with a 6 degrees-of-freedom robot, deenitely connrm the possibility to use Integrated Supervisory Control systems as adaptive, safe and eecient synergetic human-machine systems for coping with various real-world applications.