Flexible human-robot cooperation with shared task representation (FlexCobot)

具有共享任务表示的灵活人机合作 (FlexCobot)

• 批准号: 397804710
• 负责人: Professor Dr. Dominik Henrich
• 金额: --
• 依托单位: Lehrstuhl für Angewandte Informatik III - Robotik und Eingebettete Systeme
• 依托单位国家: 德国
• 项目类别: Research Grants
• 财政年份: 2017
• 资助国家: 德国
• 起止时间: 2016-12-31 至 2022-12-31
• 项目状态: 已结题
• 来源: https://gepris.dfg.de/gepris/projekt/397804710?language=en
• 关键词: Flexible; human; robot; cooperation; shared

In traditional automation systems, robots are used to repeatedly perform the same task for a long period of time. Fences often ensure the safety of human workers by preventing them from entering the robot workspace. Recent advances enable safe human-robot coexistence without these physical barriers. With humans and robots being able to move safely within the shared workspace, it is possible to integrate human agents into the production process. Humans and robots can work on a common goal using their individual skills. With this symbiotic combination of intelligent robotics and the cognitive skills that are unique to humans, hybrid and flexible cooperating systems can be de-signed that are useful for many applications, such as small-series production, service, workshops, laboratories and households. The goal of the research project “FlexCobot” is to develop and investigate new concepts for flexible human-robot cooperation. Given to the robot system is a human and a machine-readable representation of the task, which is composed of elementary operations. The task shall be fulfilled by a team of humans and robots as correctly, quickly, and conveniently as possible. As basis a paradigm is followed, which considers all agents as equal partners such that each elementary operation can be carried out by each agent. Based on this paradigm, flexibility regarding the team composition, the tasks to be undertaken, and the objects is sought for human-robot cooperation. Using a prototypical realization, central questions to be answered are: What is an appropriate shared object representation, an efficient co-ordination, and a system architecture for one or more robots?

在传统的自动化系统中，机器人被用来在很长一段时间内重复执行同一任务。栅栏经常通过阻止人类工人进入机器人工作空间来确保他们的安全。最新的进展使人类和机器人能够安全共存，而没有这些物理障碍。随着人类和机器人能够在共享工作空间内安全移动，将人类代理集成到生产过程中是可能的。人类和机器人可以利用各自的技能为共同的目标而工作。利用智能机器人技术和人类独有的认知技能的这种共生组合，可以设计出混合和灵活的协作系统，这些系统可用于许多应用，如小系列生产、服务、车间、实验室和家庭。FlexCobot研究项目的目标是开发和研究柔性人-机器人合作的新概念。给机器人系统的是人类和机器可读的任务表示，它由基本操作组成。这项任务应由人类和机器人组成的团队尽可能正确、快速和方便地完成。作为基础，遵循了一种范式，该范式将所有代理视为平等的合作伙伴，使得每个代理都可以执行每个基本操作。基于这一范例，寻求在团队组成、要承担的任务和对象方面的灵活性，以实现人-机器人合作。使用原型实现，要回答的中心问题是：一个或多个机器人的适当的共享对象表示、有效的协调和系统架构是什么？