Specifying Dual-Arm Robot Planning Problems Through Natural Language and Demonstration

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F19%3A00337147" target="_blank" >RIV/68407700:21730/19:00337147 - isvavai.cz</a>

Výsledek na webu

<a href="https://doi.org/10.1109/LRA.2019.2898714" target="_blank" >https://doi.org/10.1109/LRA.2019.2898714</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1109/LRA.2019.2898714" target="_blank" >10.1109/LRA.2019.2898714</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Specifying Dual-Arm Robot Planning Problems Through Natural Language and Demonstration

Popis výsledku v původním jazyce

Multi-modal robot programming with natural language and demonstration is a promising technique for efficient teaching of manipulation tasks in industrial environments. In particular, with modern dual-arm robots designed to quickly take over tasks at typical industrial workbenches, the direct teaching of task sequences hardly utilizes the robots' capabilities. We, therefore, propose a two-staged approach that combines natural language instructions and demonstration with simultaneous task allocation and motion scheduling based on constraint programming. Instead of providing a task description and demonstrations that are replayed to a large extent, the user describes tasks to be scheduled with all relevant constraints and demonstrates relevant locations relative to workpieces and other objects. With explicitly stated constraints on the partial ordering of tasks, the solver allocates the tasks to the robot arms and schedules them in time while avoiding self-collisions and reducing the makespan in our experiment by 33%. The linguistic concepts of naming and grouping enable systematic reuse of sub-task ensembles. The proposed approach is evaluated with four variants of a glueing use-case from furniture assembly in user studies with ten participants. In these user studies, we observed a speed-up for the task definition of more than six times compared to a textual specification of the planning problems using the Python-based planner API.

Název v anglickém jazyce

Specifying Dual-Arm Robot Planning Problems Through Natural Language and Demonstration

Popis výsledku anglicky

Multi-modal robot programming with natural language and demonstration is a promising technique for efficient teaching of manipulation tasks in industrial environments. In particular, with modern dual-arm robots designed to quickly take over tasks at typical industrial workbenches, the direct teaching of task sequences hardly utilizes the robots' capabilities. We, therefore, propose a two-staged approach that combines natural language instructions and demonstration with simultaneous task allocation and motion scheduling based on constraint programming. Instead of providing a task description and demonstrations that are replayed to a large extent, the user describes tasks to be scheduled with all relevant constraints and demonstrates relevant locations relative to workpieces and other objects. With explicitly stated constraints on the partial ordering of tasks, the solver allocates the tasks to the robot arms and schedules them in time while avoiding self-collisions and reducing the makespan in our experiment by 33%. The linguistic concepts of naming and grouping enable systematic reuse of sub-task ensembles. The proposed approach is evaluated with four variants of a glueing use-case from furniture assembly in user studies with ten participants. In these user studies, we observed a speed-up for the task definition of more than six times compared to a textual specification of the planning problems using the Python-based planner API.

Druh

J_SC - Článek v periodiku v databázi SCOPUS

CEP obor

—

OECD FORD obor

50103 - Cognitive sciences

Projekt

Výsledek vznikl pri realizaci vícero projektů. Více informací v záložce Projekty.

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Rok uplatnění

2019

Kód důvěrnosti údajů

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Název periodika

IEEE Robotics and Automation Letters

ISSN

2377-3766

e-ISSN

2377-3766

Svazek periodika

4

Číslo periodika v rámci svazku

3

Stát vydavatele periodika

US - Spojené státy americké

Počet stran výsledku

8

Strana od-do

2622-2629

Kód UT WoS článku

000466928400004

EID výsledku v databázi Scopus

2-s2.0-85065464850