基于信任的人机切换

2015 Second International Conference on Mathematics and Computers in Sciences and in Industry (MCSI) Pub Date : 2015-08-17 DOI:10.1109/MCSI.2015.50

I. Walker, L. Mears, Rahman S. M. Mizanoor, R. Pak, S. Remy, Yue Wang

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引用次数: 12

摘要

我们提出了一种新的人机协作操作中机器人和人类之间有效载荷切换的方法。关键的创新是在底层机器人运动规划算法中加入了机器人对人的信任。利用加权雅可比伪逆算法，根据当前的信任值来改变机器人的运动(权衡碰撞风险和任务效率)。目标应用是小规模制造业，但该方法可以应用于多种形式的机器人-人的移交和交互。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Robot-Human Handovers Based on Trust

We present a new approach to payload handovers between robots and humans in collaborative human-co-robot operations. The key innovation is the incorporation of robot trust (in the human) in the underlying robot motion planning algorithm. Using a weighted Jacobian pseudoinverse algorithm, the robot motions are varied (trading off collision risk against task efficiency) based on the current value of trust. The targeted application is small-scale manufacturing, but the approach can be applied to many forms of robot-human handovers and interactions.

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来源期刊

2015 Second International Conference on Mathematics and Computers in Sciences and in Industry (MCSI)

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