论文标题
人体机器人协作集会计划：答案集编程方法
Human Robot Collaborative Assembly Planning: An Answer Set Programming Approach
论文作者
论文摘要
为了计划从给定的零件组装产品的组装，机器人需要某些认知技能：需要高级计划来决定驱动措施的顺序，而几何推理需要几何推理来检查这些行动的可行性。对于与人类的协作组装任务，机器人需要进一步的认知能力，例如常识性推理，感应和沟通能力，不仅要应对有关人类行为不完整的不完整知识所带来的不确定性，还可以确保合作。我们提出了一种在不确定性下进行协作集会计划的新方法，该方法利用了混合条件计划，以常识性推理扩展，并为协作任务提供了丰富的沟通措施。我们的方法基于答案集编程。我们在现实世界中的域中展示了我们的方法的适用性，在该领域中，双手的Baxter机器人与人类队友合作以组装家具。该手稿正在考虑在TPLP中接受。
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.
