産業タスクにおける機能指向オブジェクトネットワークの基盤構築
Grounding of the Functional Object-Oriented Network in Industrial Tasks
協働ロボットの教示学習向けに、FOONを用いた行動認識システムとロボット間のデータ交換を実現する手法を提案した。
著者: Rafik Ayari, Matteo Pantano, David Paulius
分類: cs.RO, cs.CV
原文アブストラクト
In this preliminary work, we propose to design an activity recognition system that is suitable for Industrie 4.0 (I4.0) applications, especially focusing on Learning from Demonstration (LfD) in collaborative robot tasks. More precisely, we focus on the issue of data exchange between an activity recognition system and a collaborative robotic system. We propose an activity recognition system with linked data using functional object-oriented network (FOON) to facilitate industrial use cases. Initially, we drafted a FOON for our use case. Afterwards, an action is estimated by using object and hand recognition systems coupled with a recurrent neural network, which refers to FOON objects and states. Finally, the detected action is shared via a context broker using an existing linked data model, thus enabling the robotic system to interpret the action and execute it afterwards. Our initial results show that FOON can be used for an industrial use case and that we can use existing linked data models in LfD applications.
