Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks
In this paper, we address flexible assembly plans generation to accommodate human task variability. Unlike existing approaches, the proposed approach is based on a free-style human-robot interaction (HRI) that does not impose any task order on the participants and furthermore can accommodate their...
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| Format: | Article |
| Language: | English |
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LibraryPress@UF
2022-05-01
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| Series: | Proceedings of the International Florida Artificial Intelligence Research Society Conference |
| Online Access: | https://journals.flvc.org/FLAIRS/article/view/130645 |
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| _version_ | 1849735522809806848 |
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| author | Belal HMEDAN Dorilys Kilgus Humbert Fiorino Aurelie Landry Damien Pellier |
| author_facet | Belal HMEDAN Dorilys Kilgus Humbert Fiorino Aurelie Landry Damien Pellier |
| author_sort | Belal HMEDAN |
| collection | DOAJ |
| description | In this paper, we address flexible assembly plans generation to accommodate human task variability.
Unlike existing approaches, the proposed approach is based on a free-style human-robot interaction (HRI) that does not impose any task order on the participants and furthermore can accommodate their errors and help them to correct the errors without stopping the whole assembly process.
Our approach is implemented in a real robotic architecture that combines sensory-motor modules with Hierarchical Task Networks (HTN) to endow the cobot with the necessary adaptability to correspond to human actions dynamically.
We show experimentally with 56 participants on a simulated industrial assembly task that the cobot increases the task performance (reduction in the number of errors and gestures) without increasing the participants' cognitive load. |
| format | Article |
| id | doaj-art-67fa30c3c2e6470aa7fc638afdf04943 |
| institution | DOAJ |
| issn | 2334-0754 2334-0762 |
| language | English |
| publishDate | 2022-05-01 |
| publisher | LibraryPress@UF |
| record_format | Article |
| series | Proceedings of the International Florida Artificial Intelligence Research Society Conference |
| spelling | doaj-art-67fa30c3c2e6470aa7fc638afdf049432025-08-20T03:07:32ZengLibraryPress@UFProceedings of the International Florida Artificial Intelligence Research Society Conference2334-07542334-07622022-05-013510.32473/flairs.v35i.13064566844Adapting Cobot Behavior to Human Task Ordering Variability for Assembly TasksBelal HMEDAN0Dorilys Kilgus1Humbert Fiorino2Aurelie Landry3Damien Pellier4University Grenoble AlpesUniversity Grenoble AlpesUniversity Grenoble AlpesUniversity Grenoble AlpesUniversity Grenoble AlpesIn this paper, we address flexible assembly plans generation to accommodate human task variability. Unlike existing approaches, the proposed approach is based on a free-style human-robot interaction (HRI) that does not impose any task order on the participants and furthermore can accommodate their errors and help them to correct the errors without stopping the whole assembly process. Our approach is implemented in a real robotic architecture that combines sensory-motor modules with Hierarchical Task Networks (HTN) to endow the cobot with the necessary adaptability to correspond to human actions dynamically. We show experimentally with 56 participants on a simulated industrial assembly task that the cobot increases the task performance (reduction in the number of errors and gestures) without increasing the participants' cognitive load.https://journals.flvc.org/FLAIRS/article/view/130645 |
| spellingShingle | Belal HMEDAN Dorilys Kilgus Humbert Fiorino Aurelie Landry Damien Pellier Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks Proceedings of the International Florida Artificial Intelligence Research Society Conference |
| title | Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks |
| title_full | Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks |
| title_fullStr | Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks |
| title_full_unstemmed | Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks |
| title_short | Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks |
| title_sort | adapting cobot behavior to human task ordering variability for assembly tasks |
| url | https://journals.flvc.org/FLAIRS/article/view/130645 |
| work_keys_str_mv | AT belalhmedan adaptingcobotbehaviortohumantaskorderingvariabilityforassemblytasks AT dorilyskilgus adaptingcobotbehaviortohumantaskorderingvariabilityforassemblytasks AT humbertfiorino adaptingcobotbehaviortohumantaskorderingvariabilityforassemblytasks AT aurelielandry adaptingcobotbehaviortohumantaskorderingvariabilityforassemblytasks AT damienpellier adaptingcobotbehaviortohumantaskorderingvariabilityforassemblytasks |