Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks

Belal Hmedan (1, 2) , Dorilys Kilgus (3) , Humbert Fiorino (1, 2) , Aurelie Landry (4) , Damien Pellier (1, 2)

1 LIG - Laboratoire d'Informatique de Grenoble
2 Marvin - Artificial Intelligence and Robotics
3 Grenoble INP PHELMA - École nationale supérieure de physique, électronique, matériaux
4 LIP-PC2S - Laboratoire Inter-universitaire de Psychologie : Personnalité, Cognition, Changement Social

In this paper, we address flexible assembly plans generation to accommodate human task variability. Unlike existing approaches, the proposed approach is based on a free-style human-robot interaction (HRI) that does not impose any task order on the participants and furthermore can accommodate their errors and help them to correct the errors without stopping the whole assembly process. Our approach is implemented in a real robotic architecture that combines sensory-motor modules with Hierarchical Task Networks (HTN) to endow the cobot with the necessary adaptability to correspond to human actions dynamically. We show experimentally with 56 participants on a simulated industrial assembly task that the cobot increases the task performance (reduction in the number of errors and gestures) without increasing the participants' cognitive load.

Mots clés: Artificial Intelligence AI; Human-Robot Collaboration; Human-Robot Interaction HRI

Domaines: Intelligence artificielle [cs.AI]

Belal Hmedan, Dorilys Kilgus, Humbert Fiorino, Aurelie Landry, Damien Pellier. Adapting Cobot Behavior to Human Task Ordering Variability for Assembly Tasks. FLAIRS-35, May 2022, Jensen Beach, United States. ⟨10.32473/flairs.v35i.130645⟩. ⟨hal-03662945⟩