Grounding of the Functional Object-Oriented Network in Industrial Tasks
This work addresses data exchange challenges in industrial automation for collaborative robots, but it is incremental as it builds on existing FOON and linked data models.
The authors tackled the problem of data exchange between activity recognition and collaborative robotic systems in industrial tasks by proposing a system using functional object-oriented networks (FOON) and linked data models, with initial results demonstrating feasibility for industrial use cases and compatibility with existing linked data in learning from demonstration applications.
In this preliminary work, we propose to design an activity recognition system that is suitable for Industrie 4.0 (I4.0) applications, especially focusing on Learning from Demonstration (LfD) in collaborative robot tasks. More precisely, we focus on the issue of data exchange between an activity recognition system and a collaborative robotic system. We propose an activity recognition system with linked data using functional object-oriented network (FOON) to facilitate industrial use cases. Initially, we drafted a FOON for our use case. Afterwards, an action is estimated by using object and hand recognition systems coupled with a recurrent neural network, which refers to FOON objects and states. Finally, the detected action is shared via a context broker using an existing linked data model, thus enabling the robotic system to interpret the action and execute it afterwards. Our initial results show that FOON can be used for an industrial use case and that we can use existing linked data models in LfD applications.