Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration

A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared...

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Bibliographic Details
Published in:arXiv.org 2022-06
Main Authors: Huang, Zhe, Ye-Ji Mun, Li, Xiang, Xie, Yiqing, Zhong, Ninghan, Liang, Weihang, Geng, Junyi, Chen, Tan, Driggs-Campbell, Katherine
Format: Article
Language:English
Subjects:
Algorithms
Cooperation
Human motion
Robot dynamics
Online Access:Get full text
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Summary:A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared space. Cooperation mode enables the robot to follow human guidance and recover failures. A human intention tracking algorithm takes in both human and robot motion measurements as input and provides a switch on the interaction modes. We demonstrate the effectiveness of CoCo system in a use case analogous to a real world multi-step assembly task.
ISSN:2331-8422