In this article, we propose FlexHRC+, a hierarchical human–robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The architecture encompasses three levels, namely for perception, representation, and action. Building up on previous work, here we focus on an in-the-loop decision-making process for the operations of collaborative robots coping with the variability of actions carried out by human operators, and the representation level, integrating a hierarchical and/or graph whose online behavior is formally specified using first-order logic. The architecture is accompanied by experiments including collaborative furniture assembly and object positioning tasks.

A Hierarchical Architecture for Human–Robot Cooperation Processes

Darvish K.;Simetti E.;Mastrogiovanni F.;Casalino G.
2020-01-01

Abstract

In this article, we propose FlexHRC+, a hierarchical human–robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The architecture encompasses three levels, namely for perception, representation, and action. Building up on previous work, here we focus on an in-the-loop decision-making process for the operations of collaborative robots coping with the variability of actions carried out by human operators, and the representation level, integrating a hierarchical and/or graph whose online behavior is formally specified using first-order logic. The architecture is accompanied by experiments including collaborative furniture assembly and object positioning tasks.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11567/1037281
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