先回りする人間-ロボット協調組立：人間意図予測とロバスト安全制御の活用
Proactive Human-Robot Co-Assembly: Leveraging Human Intention Prediction and Robust Safe Control
人間の意図を予測するモジュールとロバスト安全制御を組み合わせ、不確実な環境でも安全かつ効率的に人間を先回りして支援する協調組立フレームワークを提案し、Kinova Gen3ロボットで有効性を示した。
著者: Ruixuan Liu, Rui Chen, Abulikemu Abuduweili, Changliu Liu
分類: cs.RO, cs.AI
原文アブストラクト
Human-robot collaboration (HRC) is one key component to achieving flexible manufacturing to meet the different needs of customers. However, it is difficult to build intelligent robots that can proactively assist humans in a safe and efficient way due to several challenges. First, it is challenging to achieve efficient collaboration due to diverse human behaviors and data scarcity. Second, it is difficult to ensure interactive safety due to uncertainty in human behaviors. This paper presents an integrated framework for proactive HRC. A robust intention prediction module, which leverages prior task information and human-in-the-loop training, is learned to guide the robot for efficient collaboration. The proposed framework also uses robust safe control to ensure interactive safety under uncertainty. The developed framework is applied to a co-assembly task using a Kinova Gen3 robot. The experiment demonstrates that our solution is robust to environmental changes as well as different human preferences and behaviors. In addition, it improves task efficiency by approximately 15-20%. Moreover, the experiment demonstrates that our solution can guarantee interactive safety during proactive collaboration.
