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A Hierarchical Architecture for Human-Robot Cooperation Processes
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DOI：10.1109/TRO.2020.3033715.png)
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Abstract
En 中文
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.
Keywords:
AND/ OR graph
human-robot cooperation (HRC)
online decision making
smart factory
task representation
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