共存と協調モードによるシームレスなインタラクション設計：堅牢な人ロボット協働に向けて
Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration
人間とロボットが同じ空間で独立作業する共存モードと、人間の指示に従い失敗から復帰する協調モードを切り替えるCoCoシステムを開発し、多段階組立作業で有効性を示した。
著者: Zhe Huang, Ye-Ji Mun, Xiang Li, Yiqing Xie, Ninghan Zhong, Weihang Liang, Junyi Geng, Tan Chen, Katherine Driggs-Campbell
分類: cs.RO
原文アブストラクト
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared space. Cooperation mode enables the robot to follow human guidance and recover failures. A human intention tracking algorithm takes in both human and robot motion measurements as input and provides a switch on the interaction modes. We demonstrate the effectiveness of CoCo system in a use case analogous to a real world multi-step assembly task.
