次世代産業用協働ロボットのための安全で効率的な協調システムSERoCS
SERoCS: Safe and Efficient Robot Collaborative Systems for Next Generation Intelligent Industrial Co-Robots
人間とロボットの協働作業に向けて、環境認識・タスク計画・安全な動作計画を統合した安全かつ効率的な協調システムSERoCSを提案し、実験で有効性を示した論文。
著者: Changliu Liu, Te Tang, Hsien-Chung Lin, Yujiao Cheng, Masayoshi Tomizuka
分類: cs.RO
原文アブストラクト
Human-robot collaborations have been recognized as an essential component for future factories. It remains challenging to properly design the behavior of those co-robots. Those robots operate in dynamic uncertain environment with limited computation capacity. The design objective is to maximize their task efficiency while guaranteeing safety. This paper discusses a set of design principles of a safe and efficient robot collaboration system (SERoCS) for the next generation co-robots, which consists of robust cognition algorithms for environment monitoring, efficient task planning algorithms for reference generations, and safe motion planning and control algorithms for safe human-robot interactions. The proposed SERoCS will address the design challenges and significantly expand the skill sets of the co-robots to allow them to work safely and efficiently with their human counterparts. The development of SERoCS will create a significant advancement toward adoption of co-robots in various industries. The experiments validate the effectiveness of SERoCS.
