Problem
Research questions and friction points this paper is trying to address.
robot skills
agility
flexibility
robustness
Programming and execution of skill-based human-robot-crane collaborative tasks
🤖 AI Summary
为应对多样化生产带来的挑战，本文提出一种基于CAD模型的编程和执行系统，通过动态参数化的行为树控制结构实现人-机器人-起重机协同任务。
📝 Abstract
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.
Innovation
Methods, ideas, or system contributions that make the work stand out.
CAD-model based programming
parametrized skills
modified Behavior Tree
event based communication
human-robot-crane collaboration
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