Fast Graphical Task Modelling for Flexible Human-Robot Teaming
Fast Graphical Task Modelling for Flexible Human-Robot Teaming
复制标题
用于灵活人机协作的快速图形任务建模
DOI：
--
复制
发表时间：
2018
期刊：
影响因子：
--
通讯作者：
D. Henrich
中科院分区：
文献类型：
--
作者：
Dominik Riedelbauch;D. Henrich
人机协作是机器人学研究的一个热点。最近的工作主要集中在执行阶段，人类和机器人的行动需要根据给定的任务模型进行规划和协调。相比之下，我们讨论了一种快速创建适合灵活的人机协作的任务模型的方法：受到图形机器人应用程序编程的启发，非专家可以在工作场所的3D表示中参数化依赖于领域的部件和操作。然后，使用基于图标的编辑器对操作进行排序，以形成表示为组装优先级图的任务。此外，该编辑器还支持适当的工作区设置，以便生成的模型可以由人类-机器人团队进行小批量执行。我们表明，我们的贡献提供了一个快速和强大的方法，灵活地设置复杂的拾取和放置工作的共享任务，通过测量直观性和平均建模时间在用户研究。
Human-robot cooperation is a trending topic in robotics research. Recent works mainly focus the execution phase, where human and robot actions need to be planned and coordinated based on given task models. In contrast, we discuss an approach to fast creation of task models suitable for flexible human-robot teaming: Inspired by graphical robot application programming, non-experts may parametrize domain-dependent parts and operations within a 3D representation of the workplace. Operations are then ordered to form a task represented as assembly precedence graph using an icon-based editor. This editor moreover supports proper workplace setup, so that the resulting model is ready for small-batch execution by human-robot teams. We show that our contribution provides a fast and powerful approach to flexibly setup shared tasks for complex pick&place jobs by measuring intuitiveness and average modelling times in a user study.