Human–Robot Collaboration in Smart Manufacturing: Robot Reactive Behavior Intelligence
Human–Robot Collaboration in Smart Manufacturing: Robot Reactive Behavior Intelligence
复制标题
智能制造中的人机协作：机器人反应行为智能
DOI：
10.1115/1.4048950
复制
发表时间：
2021
期刊：
影响因子：
--
通讯作者：
Fassi, Irene
中科院分区：
文献类型：
--
作者：
Nicora, Matteo Lavit;Ambrosetti, Roberto;Wiens, Gloria J.;Fassi, Irene
为了在智能制造中实现安全有效的人机协作（HRC），将传感、认知和预测无缝集成到机器人控制器中对于异构环境（机器人、人类和设备）中的实时感知、响应和通信至关重要。具体的研究目标是提供机器人主动自适应协作智能（PACI）和其控制架构内的切换逻辑，以使机器人能够最佳地和动态地适应其运动，给定先验知识和预定义的执行计划，其分配的任务。挑战在于增强机器人的决策过程，使其具有更强的态势感知能力，并在受到不同程度的人机交互时产生智能机器人行为/反应，同时保持安全性和生产效率。机器人的反应行为是通过成本函数为基础的开关逻辑激活最合适的高级控制器。的PACI的底层分割和切换逻辑框架被证明产生高度的模块化和灵活性。所开发的控制结构的性能受到不同程度的人机交互进行了验证，在一个模拟的环境。开环命令被发送到物理e.DO机器人，以演示所提出的框架在真实的应用中的行为。
To enable safe and effective human–robot collaboration (HRC) in smart manufacturing, seamless integration of sensing, cognition, and prediction into the robot controller is critical for real-time awareness, response, and communication inside a heterogeneous environment (robots, humans, and equipment). The specific research objective is to provide the robot Proactive Adaptive Collaboration Intelligence (PACI) and switching logic within its control architecture in order to give the robot the ability to optimally and dynamically adapt its motions, given a priori knowledge and predefined execution plans for its assigned tasks. The challenge lies in augmenting the robot’s decision-making process to have greater situation awareness and to yield smart robot behaviors/reactions when subject to different levels of human–robot interaction, while maintaining safety and production efficiency. Robot reactive behaviors were achieved via cost function-based switching logic activating the best suited high-level controller. The PACI’s underlying segmentation and switching logic framework is demonstrated to yield a high degree of modularity and flexibility. The performance of the developed control structure subjected to different levels of human–robot interactions was validated in a simulated environment. Open-loop commands were sent to the physical e.DO robot to demonstrate how the proposed framework would behave in a real application.
智能工业协作机器人的算法安全措施
DOI：
--
发表时间：
2016
期刊：
IEEE International Conference on Robotics and Automation
影响因子：
--
作者：
Changliu Liu;M. Tomizuka
通讯作者：
M. Tomizuka
DOI：
10.24963/ijcai.2018/3
发表时间：
2018
期刊：
Frontiers in bioscience
影响因子：
--
作者：
D. Kragic;Joakim Gustafson;H. Karaoğuz;P. Jensfelt;R. Krug
通讯作者：
R. Krug
影响因子：
5.7
作者：
Chitta, Sachin;Sucan, Ioan;Cousins, Steve
通讯作者：
Cousins, Steve