Human-in-the-loop Robotic Manipulation Planning for Collaborative Assembly
This addresses the problem of improving efficiency and comfort in collaborative assembly tasks for manufacturing or industrial settings, but it is incremental as it builds on existing human-in-the-loop and manipulation planning methods.
This paper tackled the problem of human-robot collaborative assembly by developing a system that distributes subtasks between robots and humans, with robots handling pick-and-place and humans performing fine operations; the results demonstrated that the system was effective and efficient in assisting humans to complete assembly tasks comfortably.
This paper develops a robotic manipulation planner for human-robot collaborative assembly. Unlike previous methods which study an independent and fully AI-equipped autonomous system, this paper explores the subtask distribution between a robot and a human and studies a human-in-the-loop robotic system for collaborative assembly. The system distributes the subtasks of an assembly to robots and humans by exploiting their advantages and avoiding their disadvantages. The robot in the system will work on pick-and-place tasks and provide workpieces to humans. The human collaborator will work on fine operations like aligning, fixing, screwing, etc. A constraint based incremental manipulation planning method is proposed to generate the motion for the robots. The performance of the proposed system is demonstrated by asking a human and the dual-arm robot to collaboratively assemble a cabinet. The results showed that the proposed system and planner are effective, efficient, and can assist humans in finishing the assembly task comfortably.