A Task Allocation Approach for Human-Robot Collaboration in Product Defects Inspection Scenarios
A Task Allocation Approach for Human-Robot Collaboration in Product Defects Inspection Scenarios
复制标题
产品缺陷检测场景中人机协作的任务分配方法
DOI：
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
F. Mastrogiovanni
中科院分区：
文献类型：
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作者：
Hossein Karami;Kourosh Darvish;F. Mastrogiovanni
车间环境中人类操作员和协作机器人的存在和共存提出了将任务分配给操作员或机器人或两者的需要。根据任务特征、操作员能力和所涉及的机器人功能，设计允许并发和/或顺序分配与对象操纵和组装相关的任务的策略至关重要。在本文中，我们扩展了[1]中提出的FLEXHRC框架，以允许人类操作员同时与多个异构机器人交互，以便共同执行给定的任务。扩展的 FLEXHRC 框架利用并发和顺序任务表示框架将任务分配给操作员或机器人，作为动态协作过程的一部分。我们特别关注与产品缺陷检查相关的用例，其中涉及一名操作员、Rethink Robotics 的双臂 Baxter 机械手和 Kuka youBot 移动机械手。
The presence and coexistence of human operators and collaborative robots in shop-floor environments raises the need for assigning tasks to either operators or robots, or both. Depending on task characteristics, operator capabilities and the involved robot functionalities, it is of the utmost importance to design strategies allowing for the concurrent and/or sequential allocation of tasks related to object manipulation and assembly. In this paper, we extend the FLEXHRC framework presented in [1] to allow a human operator to interact with multiple, heterogeneous robots at the same time in order to jointly carry out a given task. The extended FLEXHRC framework leverages a concurrent and sequential task representation framework to allocate tasks to either operators or robots as part of a dynamic collaboration process. In particular, we focus on a use case related to the inspection of product defects, which involves a human operator, a dual-arm Baxter manipulator from Rethink Robotics and a Kuka youBot mobile manipulator.