A Hierarchical Architecture for Human-Robot Cooperation Processes

• URL: http://arxiv.org/abs/2009.02807v1
• Date: Sun, 6 Sep 2020 19:55:32 GMT
• Title: A Hierarchical Architecture for Human-Robot Cooperation Processes
• Authors: Kourosh Darvish, Enrico Simetti, Fulvio Mastrogiovanni, Giuseppe Casalino
• Abstract summary: We propose a hierarchical human-robot cooperation architecture called FlexHRC+. It provides collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks.
• Score: 3.9514394345533828
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: 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.

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