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

2022-06-03 18:38:17
Zhe Huang, Ye-Ji Mun, Xiang Li, Yiqing Xie, Ninghan Zhong, Weihang Liang, Junyi Geng, Tan Chen, Katherine Driggs-Campbell
arXiv_RO
     
Abstract

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.

Abstract (translated)

URL

https://arxiv.org/abs/2206.01775

PDF

https://arxiv.org/pdf/2206.01775.pdf

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