Automatic high-level motion sequencing methods for enabling multi-tasking construction robots
Automatic high-level motion sequencing methods for enabling multi-tasking construction robots
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DOI：
10.1016/j.autcon.2023.105071
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发表时间：
2023-09-02
影响因子：
10.3
通讯作者：
Mcgee，Wes
中科院分区：
文献类型：
--
作者：
Wang，Xi;Wang，Shuoqi;Mcgee，Wes
机器人有望在未来的建筑工作中发挥重要作用。然而，它们尚未被业界广泛采用，因为对机器人进行编程以执行各种施工任务既困难又昂贵。本文提出了一种通过演示直观、灵活地教导机器人执行各种施工任务的方法。机器人首先使用基本技能原语进行编程，然后学习这些原语技能的顺序，以便在人类监督员的指导下执行不同类型的建筑工作。施工工作流程和交互过程由流程级数字孪生系统实现。使用三个组装场景和木框架结构实验的案例研究来展示和验证所提出的方法。所提出的方法通过从演示中学习来实现自动机器人运动排序能力，并有可能使机器人在建筑工地得到广泛采用。
Robots are expected to play an important role in future construction work. However, they are not yet widely adopted by the industry because it is difficult and expensive to program robots to conduct a variety of construction tasks. This paper presents a method for intuitively and flexibly teaching robots to perform various construction tasks through demonstrations. Robots are first programmed with basic skill primitives and then learn the sequencing of these primitive skills to perform different types of construction work under the guidance of human supervisors. The construction workflow and the interaction processes are enabled by a process-level digital twin system. Case studies with three assembly scenarios and a wooden frame construction experiment are used to present and verify the proposed method. The proposed approach enables automatic robot motion sequencing abilities through Learning from Demonstration and has the potential to enable the widespread adoption of robots on construction sites.