Towards collaborative robots as intelligent co-workers in human-robot joint tasks: What to do and who does it?

• Type: Article in International Conference Proceedings Book
• Date: 2020

Authors

Cunha, A (Author) Other; Ferreira, F (Author) Other; Sousa, E (Author) Other; Louro, L (Author) Other; Vicente, P (Author) Other; Monteiro, S (Author) Other; Erlhagen, W (Author) Other; Bicho, E (Author) Other

Conference proceedings International

Title: 52nd International Symposium on Robotics, ISR 2020

Pages: 141-148

52nd International Symposium on Robotics, ISR 2020

9 December 2020 through 10 December 2020

Indexing

Scopus - 0 Citations

Other information

Authenticus ID: P-00T-HZA

Abstract (EN): Recently there has been an increasing demand for collaborative robots able to interact and cooperate with people in several human environments, sharing physical space, and working closely with humans in joint tasks. Endowing robots with learning and cognitive capabilities is a key for natural and efficient cooperation with the human co-worker. In particular, these abilities improve and facilitate the use of collaborative robots in the joint assembly task, especially in smart manufacturing contexts. In this paper, we report the results of the implementation of a neuro-inspired model - based on Dynamic Neural Fields - for action selection in a Human-Robot join action scenario. We test the model in a real construction scenario where the robot Sawyer selects and verbalizes, at each step, the next part to be mounted and outputs an appropriate action to insert it, together with its human partner. The two-dimensional Action Execution Layer allows the representation of the components object and action in the same field. The results reveal that the robot can compute valid decisions for different workspace layouts and for situations where there are missing pieces. © 2020 VDE Verlag GMBH.

Language: English

Type (Professor's evaluation): Scientific