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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.