人間工学的リスク予測とロボット動作適応に基づく動的な人間-ロボット役割分担
Dynamic Human-Robot Role Allocation based on Human Ergonomics Risk Prediction and Robot Actions Adaptation
AND/ORグラフを用いて作業戦略を最適化し、人間の人間工学的状態をオンライン計測しながら人間とロボットの作業分担を動的に割り当てる手法を提案した。
著者: Elena Merlo, Edoardo Lamon, Fabio Fusaro, Marta Lorenzini, Alessandro Carfì, Fulvio Mastrogiovanni, Arash Ajoudani, .
分類: cs.RO, cs.AI
原文アブストラクト
Despite cobots have high potential in bringing several benefits in the manufacturing and logistic processes, but their rapid (re-)deployment in changing environments is still limited. To enable fast adaptation to new product demands and to boost the fitness of the human workers to the allocated tasks, we propose a novel method that optimizes assembly strategies and distributes the effort among the workers in human-robot cooperative tasks. The cooperation model exploits AND/OR Graphs that we adapted to solve also the role allocation problem. The allocation algorithm considers quantitative measurements that are computed online to describe human operator's ergonomic status and task properties. We conducted preliminary experiments to demonstrate that the proposed approach succeeds in controlling the task allocation process to ensure safe and ergonomic conditions for the human worker.
