Branched AND/OR Graphs : Toward Flexible and Adaptable Human-Robot Collaboration

Author / Creator

RO-MAN 2021 (2021)

Conferences

RO-MAN 2021 Panel 5 - HuRoCops: Advanced human-robot cooperative and collaborative schemes in large-scale industrial manufacturing environments (2021)

Available as

Online

Summary

In this work, we present a framework for human-robot collaboration allowing the human operator to alter the robot plan execution online. To achieve this goal, we introduce branched AND/OR graphs, a...

In this work, we present a framework for human-robot collaboration allowing the human operator to alter the robot plan execution online. To achieve this goal, we introduce branched AND/OR graphs, an extension to AND/OR graphs, to manage flexible and adaptable human-robot collaboration. In our study, the operator can alter the plan execution using two implementations of Branched AND/OR graphs for learning by demonstration, using kinesthetic teaching, and task repetition. Finally, we demonstrated the effectiveness of our framework in a defect spotting scenario where the operator supervises robot operations and modifies online the plan when necessary.

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