スキルベースの人間・ロボット・クレーン協調タスクのプログラミングと実行
Programming and execution of skill-based human-robot-crane collaborative tasks
CADモデルに基づく簡単なプログラミングと実行システムを提案し、パラメータ化されたスキルとモニタを備えた動的実行制御構造を実現。人間がクレーンとマニピュレータを指示して重い物体を挿入する協調タスクを例示。
詳しい要約
1. どんなもの？
2. 先行研究と比べてどこがすごい？
3. 技術・手法の肝は？
4. どうやって有効だと検証した？
5. 議論はある？
6. 次に読むべき論文は？
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著者: Taneli Lohi, Markku Suomalainen, Roope Mellanen, Tapio Heikkilä
分類: cs.RO
原文アブストラクト
Highly varying production sets increasing challenges for robotic manufacturing and indoor logistics. New capabilities for agility, flexibility, and robustness are needed. Robot skills, integrating motions, tool operations, and sensor perceptions consistently provide an execution mechanism for a versatile set of tasks with varying parameters. In this paper, easy-to-use CAD-model based programming and execution system for parametrized skills and skill monitors is showcased. The execution control structure is dynamic and parametrized, based on a modified Behavior Tree, where only event based communication is used. A human-robot-crane collaborative skill is shown as a test example, where a human instructs an overhead crane and a manipulator in inserting a heavy object supported by the crane, and guided by the manipulator, into the goal.