Human Robot Collaborative Assembly Planning: An Answer Set Programming Approach

by   Momina Rizwan, et al.

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the feasibility of these actions. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans' behaviors but also to ensure safer collaborations. We propose a novel method for collaborative assembly planning under uncertainty, that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. Our method is based on answer set programming. We show the applicability of our approach in a real-world assembly domain, where a bi-manual Baxter robot collaborates with a human teammate to assemble furniture. This manuscript is under consideration for acceptance in TPLP.



page 4

page 11


Human-in-the-loop Robotic Manipulation Planning for Collaborative Assembly

This paper develops a robotic manipulation planner for human-robot colla...

Robots and COVID-19: Challenges in integrating robots for collaborative automation

Objective: The status of human-robot collaboration for assembly applicat...

Visual scoping operations for physical assembly

Planning is hard. The use of subgoals can make planning more tractable, ...

Two-Stage Clustering of Human Preferences for Action Prediction in Assembly Tasks

To effectively assist human workers in assembly tasks a robot must proac...

A Hierarchical Architecture for Human-Robot Cooperation Processes

In this paper we propose FlexHRC+, a hierarchical human-robot cooperatio...

Combining Answer Set Programming and POMDPs for Knowledge Representation and Reasoning on Mobile Robots

For widespread deployment in domains characterized by partial observabil...
This week in AI

Get the week's most popular data science and artificial intelligence research sent straight to your inbox every Saturday.