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Human Robot Collaborative Assembly Planning: An Answer Set Programming Approach

Published online by Cambridge University Press:  22 September 2020

Momina Rizwan ,
Volkan Patoglu Open the ORCID record for Volkan Patoglu [Opens in a new window]  and
Esra Erdem Open the ORCID record for Esra Erdem [Opens in a new window]
Momina Rizwan
Affiliation:
Faculty of Engineering and Natural Sciences, Sabanc University, Istanbul, [email protected], [email protected], [email protected]
Volkan Patoglu
Affiliation:
Faculty of Engineering and Natural Sciences, Sabanc University, Istanbul, [email protected], [email protected], [email protected]
Esra Erdem
Affiliation:
Faculty of Engineering and Natural Sciences, Sabanc University, Istanbul, [email protected], [email protected], [email protected]
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Abstract

For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the feasibility of these actions. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans’ behaviors but also to ensure safer collaborations. We propose a novel method for collaborative assembly planning under uncertainty, that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. Our method is based on answer set programming. We show the applicability of our approach in a real-world assembly domain, where a bi-manual Baxter robot collaborates with a human teammate to assemble furniture.

Keywords

Answer set programmingcognitive roboticsconditional planningassembly planninghuman-robot interactionhybrid reasoningrobotic planningplanning under uncertainty
Type
Original Article
Information
Theory and Practice of Logic Programming , Volume 20 , Issue 6: 36th International Conference on Logic Programming Special Issue II , November 2020 , pp. 1006 - 1020
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Copyright
© The Author(s), 2020. Published by Cambridge University Press

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