Online Scheduling and Reactive Behaviors for Effective Human-Robot-Collaboration

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21730%2F23%3A00370965" target="_blank" >RIV/68407700:21730/23:00370965 - isvavai.cz</a>

Výsledek na webu

<a href="https://openreview.net/pdf?id=F6G3_MP8aB" target="_blank" >https://openreview.net/pdf?id=F6G3_MP8aB</a>

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

Online Scheduling and Reactive Behaviors for Effective Human-Robot-Collaboration

Popis výsledku v původním jazyce

Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working on such a process can be stressful for the user and lead to ineffective behavior or failure. We propose a novel approach of utilizing uncertainty-aware constraint-based scheduling in a reactive execution control framework facilitating behavior trees. This allows the robot to adapt to uncertain events such as delayed activity completions and activity selection (by the human). The user can rest assured that the robot will wait for him to finish his activity and will adapt to best complement the human selected activities to complete the common task. In addition to the improved working conditions, our algorithm also leads to increased efficiency, even in scenarios with high uncertainty. We evaluate our algorithm using a probabilistic simulation study and initial real robot experiments using a Franka Emika Panda robot and human tracking based on HTC Vive VR gloves.

Název v anglickém jazyce

Online Scheduling and Reactive Behaviors for Effective Human-Robot-Collaboration

Popis výsledku anglicky

Assembly processes involving humans and robots are challenging scenarios because the individual activities and access to shared workspace have to be coordinated. Fixed robot programs leave no room to diverge from a fixed protocol. Working on such a process can be stressful for the user and lead to ineffective behavior or failure. We propose a novel approach of utilizing uncertainty-aware constraint-based scheduling in a reactive execution control framework facilitating behavior trees. This allows the robot to adapt to uncertain events such as delayed activity completions and activity selection (by the human). The user can rest assured that the robot will wait for him to finish his activity and will adapt to best complement the human selected activities to complete the common task. In addition to the improved working conditions, our algorithm also leads to increased efficiency, even in scenarios with high uncertainty. We evaluate our algorithm using a probabilistic simulation study and initial real robot experiments using a Franka Emika Panda robot and human tracking based on HTC Vive VR gloves.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Projekt

<a href="/cs/project/EF15_003%2F0000470" target="_blank" >EF15_003/0000470: Robotika pro Průmysl 4.0</a><br>

Návaznosti

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)<br>S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2023

Kód důvěrnosti údajů

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

Název statě ve sborníku

Robotics: Science and Systems XIX

ISBN

978-0-9923747-9-2

ISSN

2330-765X

e-ISSN

2330-765X

Počet stran výsledku

4

Strana od-do

—

Název nakladatele

Daegu Exhibition and Convention Center Daegu

Místo vydání

Daegu

Místo konání akce

Daegu

Datum konání akce

10. 7. 2023

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—