论文标题
无缝的互动设计，具有共存和合作模式，可用于强大的人类机器人协作
Seamless Interaction Design with Coexistence and Cooperation Modes for Robust Human-Robot Collaboration
论文作者
论文摘要
机器人需要多种互动模式来与人类在复杂的工业任务中进行稳健的合作。我们开发了共存和共存（可可）人机协作系统。共存模式使机器人能够在共享空间中独立地与人类在不同子任务上合作。合作模式使机器人能够遵循人类的指导并恢复失败。人类意图跟踪算法将人类和机器人运动测量值作为输入，并提供了相互作用模式的开关。我们证明了可可系统在用例中类似于现实世界多步组件任务的有效性。
A robot needs multiple interaction modes to robustly collaborate with a human in complicated industrial tasks. We develop a Coexistence-and-Cooperation (CoCo) human-robot collaboration system. Coexistence mode enables the robot to work with the human on different sub-tasks independently in a shared space. Cooperation mode enables the robot to follow human guidance and recover failures. A human intention tracking algorithm takes in both human and robot motion measurements as input and provides a switch on the interaction modes. We demonstrate the effectiveness of CoCo system in a use case analogous to a real world multi-step assembly task.
