Proposal for cobotic tutoring through the Towers of Hanoi
DOI:
https://doi.org/10.17979/ja-cea.2026.47.13812Keywords:
Embedded computer control systems and applications, Supervisory control and automata, Intelligent Robotics, Human-centered systems engineering, Virtual and remote labsAbstract
This paper presents a cyber-physical testbed for human-robot interaction with pedagogical assistance as an example of a Human-in-the-Loop Cyber-Physical Systems (HiL-CPS). The use case is the Towers of Hanoi, a discrete problem with a known optimal solution for assessing decisions, fault tolerance and recovery from interruptions. The architecture separates a MATLA-
B/Stateflow control engine from a Python/Pygame digital model of a hypothetical physical workspace. The supervisor combines legality checking, optimal-route comparison and a patience rule that allows exploratory mistakes before active correction.
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Copyright (c) 2026 Alberto Cebrián-García, Inés Tejado, Blas M. Vinagre
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