Human Robot Collaborative Assembly Planning: An Answer Set Programming Approach
For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the feasibility of these actions. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans' behaviors but also to ensure safer collaborations. We propose a novel method for collaborative assembly planning under uncertainty, that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. Our method is based on answer set programming. We show the applicability of our approach in a real-world assembly domain, where a bi-manual Baxter robot collaborates with a human teammate to assemble furniture. This manuscript is under consideration for acceptance in TPLP.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
From Perception to Symbolic Task Planning: Vision-Language Guided Human-Robot Collaborative Structured Assembly
Human-robot collaboration (HRC) in structured assembly requires reliable state estimation and adaptive task planning under noisy perception and human interventions. To address these challenges, we introduce a design-grou…
CoViLLM: An Adaptive Human-Robot Collaborative Assembly Framework Using Large Language Models
With increasing demand for mass customization, traditional manufacturing robots that rely on rule-based operations lack the flexibility to accommodate customized or new product variants. Human-Robot Collaboration has dem…
Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one…
Imitation LearningPose EstimationReplanning Human-Robot Collaborative Tasks with Vision-Language Models via Semantic and Physical Dual-Correction
Human-Robot Collaboration (HRC) plays an important role in assembly tasks by enabling robots to plan and adjust their motions based on interactive, real-time human instructions. However, such instructions are often lingu…
An Optimal Task Planning and Agent-aware Allocation Algorithm in Collaborative Tasks Combining with PDDL and POPF
Industry 4.0 proposes the integration of artificial intelligence (AI) into manufacturing and other industries to create smart collaborative systems which enhance efficiency. The aim of this paper is to develop a flexible…
Task Planning