Multimodal Reference Resolution In Collaborative Assembly Tasks

2018 ◽  
Author(s):  
Dimosthenis Kontogiorgos ◽  
Elena Sibirtseva ◽  
Andre Pereira ◽  
Gabriel Skantze ◽  
Joakim Gustafson
Keyword(s):  
Reference Resolution ◽  
Collaborative Assembly ◽  
Assembly Tasks

scholarly journals The Design of Method Intended for Implementation of Collaborative Assembly Tasks

2018 ◽  
Vol 12 (1) ◽  
pp. 244-250 ◽  
Author(s):  
Vladimir Tlach ◽  
Ivan Kuric ◽  
Ivan Zajačko ◽  
Darina Kumičáková ◽  
Alexander Rengevič
Keyword(s):  
Collaborative Assembly ◽  
Assembly Tasks

Function Block-Based Multimodal Control for Symbiotic Human–Robot Collaborative Assembly

2021 ◽  
Vol 143 (9) ◽  
Author(s):  
Sichao Liu ◽  
Lihui Wang ◽  
Xi Vincent Wang
Keyword(s):  
Robot Control ◽  
Control Approach ◽  
Function Block ◽  
Collaborative Assembly ◽  
Function Blocks ◽  
Feature Based ◽  
Human Operators ◽  
Block Based ◽  
And Control ◽  
Assembly Tasks

AbstractIn human–robot collaborative assembly, robots are often required to dynamically change their preplanned tasks to collaborate with human operators in close proximity. One essential requirement of such an environment is enhanced flexibility and adaptability, as well as reduced effort on the conventional (re)programming of robots, especially for complex assembly tasks. However, the robots used today are controlled by rigid native codes that cannot support efficient human–robot collaboration. To solve such challenges, this article presents a novel function block-enabled multimodal control approach for symbiotic human–robot collaborative assembly. Within the context, event-driven function blocks as reusable functional modules embedded with smart algorithms are used for the encapsulation of assembly feature-based tasks/processes and control commands that are transferred to the controller of robots for execution. Then, multimodal control commands in the form of sensorless haptics, gestures, and voices serve as the inputs of the function blocks to trigger task execution and human-centered robot control within a safe human–robot collaborative environment. Finally, the performed processes of the method are experimentally validated by a case study in an assembly work cell on assisting the operator during the collaborative assembly. This unique combination facilitates programming-free robot control and the implementation of the multimodal symbiotic human–robot collaborative assembly with the enhanced adaptability and flexibility.

Prediction of Human Activity Patterns for Human–Robot Collaborative Assembly Tasks

2019 ◽  
Vol 15 (7) ◽  
pp. 3934-3942 ◽  
Author(s):  
Andrea Maria Zanchettin ◽  
Andrea Casalino ◽  
Luigi Piroddi ◽  
Paolo Rocco
Keyword(s):  
Human Activity ◽  
Activity Patterns ◽  
Collaborative Assembly ◽  
Human Activity Patterns ◽  
Assembly Tasks

A Tactile Sensor-Based Architecture for Collaborative Assembly Tasks with Heavy-Duty Robots

2021 ◽  
Author(s):  
Francesco Grella ◽  
Giulia Baldini ◽  
Roberto Canale ◽  
Keerthi Sagar ◽  
Si Ao Wang ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Heavy Duty ◽  
Collaborative Assembly ◽  
Assembly Tasks

scholarly journals Human Robot Collaborative Assembly Planning: An Answer Set Programming Approach

2020 ◽  
Vol 20 (6) ◽  
pp. 1006-1020
Author(s):  
Momina Rizwan ◽  
Volkan Patoglu ◽  
Esra Erdem
Keyword(s):  
Cognitive Skills ◽  
Answer Set Programming ◽  
Assembly Planning ◽  
Programming Approach ◽  
Planning Under Uncertainty ◽  
Commonsense Reasoning ◽  
Collaborative Assembly ◽  
High Level ◽  
Assembly Tasks ◽  
Answer Set

AbstractFor planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the feasibility of these actions. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans’ behaviors but also to ensure safer collaborations. We propose a novel method for collaborative assembly planning under uncertainty, that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. Our method is based on answer set programming. We show the applicability of our approach in a real-world assembly domain, where a bi-manual Baxter robot collaborates with a human teammate to assemble furniture.

Strategies for using instructions in assembly tasks

2007 ◽  
Author(s):  
Elsa Eiriksdottir ◽  
Richard Catrambone
Keyword(s):  
Assembly Tasks
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