柔軟な人間-ロボット協調モデルによる作業現場支援
Flexible human-robot cooperation models for assisted shop-floor tasks
ウェアラブルセンサとAND/ORグラフ、タスク優先度制御を組み合わせ、人間の多様性や予期せぬ事態に対応できる柔軟な協調ロボットのアーキテクチャを提案した。
著者: Kourosh Darwish, Francesco Wanderlingh, Barbara Bruno, Enrico Simetti, Fulvio Mastrogiovanni, Giuseppe Casalino
分類: cs.RO
原文アブストラクト
The Industry 4.0 paradigm emphasizes the crucial benefits that collaborative robots, i.e., robots able to work alongside and together with humans, could bring to the whole production process. In this context, an enabling technology yet unreached is the design of flexible robots able to deal at all levels with humans' intrinsic variability, which is not only a necessary element for a comfortable working experience for the person but also a precious capability for efficiently dealing with unexpected events. In this paper, a sensing, representation, planning and control architecture for flexible human-robot cooperation, referred to as FlexHRC, is proposed. FlexHRC relies on wearable sensors for human action recognition, AND/OR graphs for the representation of and reasoning upon cooperation models, and a Task Priority framework to decouple action planning from robot motion planning and control.
