论文标题
人类机器人合作过程的层次结构
A Hierarchical Architecture for Human-Robot Cooperation Processes
论文作者
论文摘要
在本文中，我们提出了一种层次的人类机器人合作架构FlexHRC+，旨在在支持高变异性商店基础工作的人类运营商时提供更广泛的自治权。该体系结构包括三个级别，即感知，表示和行动。在以前的工作上，我们将重点介绍（i）为应对人类运营商执行的操作的合作机器人操作的循环决策过程，以及（ii）表示级别，集成了层次结构和/或图形，其在线行为的在线行为使用第一阶逻辑正式指定了在线行为。该体系结构伴随着包括协作家具组装和对象定位任务在内的实验。
In this paper 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 (i) 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 (ii) the representation level, integrating a hierarchical AND/OR graph whose online behaviour is formally specified using First Order Logic. The architecture is accompanied by experiments including collaborative furniture assembly and object positioning tasks.
