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Vision AI-based human-robot collaborative assembly driven by autonomous robots
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DOI：10.1016/j.cirp.2024.03.004.png)
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Abstract
En 中文
Autonomous robots that understand human instructions can significantly enhance the efficiency in humanrobot assembly operations where robotic support is needed to handle unknown objects and/or provide ondemand assistance. This paper introduces a vision AI-based method for human-robot collaborative (HRC) assembly, enabled by a large language model (LLM). Upon 3D object reconstruction and pose establishment through neural object field modelling, a visual servoing-based mobile robotic system performs object manipulation and navigation guidance to a mobile robot. The LLM model provides text-based logic reasoning and high-level control command generation for natural human-robot interactions. The effectiveness of the presented method is experimentally demonstrated. (c) 2024 The Author(s). Published by Elsevier Ltd on behalf of CIRP. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/)
Keywords:
Robot
Assembly
vision AI
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