Abstract
In an era of transformation in manufacturing demographics from mass production to mass customization, advances on human-robot interaction in industries have taken many forms. However, the aim of reducing the amount of programming required by an expert using natural modes of communication is still an open topic. In this paper, we present a platform and a learning framework for human robot cooperation, called XRob. XRob is based on task-based formalism and allows building applications of human robot interactions in an intuitive way. And it enables the user to pursue different levels of shared autonomy between human and robot. The learning framework showcases that it is able to learn a complicated human robot cooperative assembly process and is intuitive to the user.
Zusammenfassung
Rasch veränderliche Marktsituationen erfordern zunehmend eine Flexibilisierung der industriellen Produktion. Um der Herausforderung hoher Variantenvielfalt gerecht zu werden, gewinnt die Mensch-Roboter-Interaktion in all ihren Formen, aufgrund der Fortschritte in Forschung und Entwicklung, zunehmend an Bedeutung. Allerdings ist das Ziel, den Programmieraufwand – üblicherweise durch einen Experten erledigt – mit Hilfe von natürlichen Kommunikationsmodi zu reduzieren, immer noch ein offenes Thema. In dieser Arbeit stellen die Autoren ein Framework zum Lernen, Parametrieren und Ausführen von Prozessen, basierend auf Mensch-Roboter-Kooperation, vor (XRob). Dieses XRob Framework beruht auf einem aufgabenbasierten Formalismus und ermöglicht es, Anwendungen basierend auf Mensch-Roboter-Interaktion in intuitiver Weise zu implementieren. Mit dieser Plattform ist der Benutzer in der Lage, verschiedene Ebenen der geteilten Autonomie zwischen Mensch und Roboter umzusetzen. Das integrierte Lern-Framework zeigt, dass es in der Lage ist, einen komplizierten, kooperativen Montageprozess zu lernen und intuitiv zu bedienen. Zusätzlich ermöglicht das Framework das Erlernen unterschiedlicher Montageprozesse durch unterschiedliche Benutzer.
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Acknowledgements
This work is funded by the projects LERN4MRK (Austrian Ministry for Transport, Innovation and Technology) and AssistMe (FFG, 848653).
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Akkaladevi, S.C., Plasch, M. & Pichler, A. Skill-based learning of an assembly process. Elektrotech. Inftech. 134, 312–315 (2017). https://doi.org/10.1007/s00502-017-0514-2
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DOI: https://doi.org/10.1007/s00502-017-0514-2