Human robot collaborative assembly planning: an answer set programming approach

Warning The system is temporarily closed to updates for reporting purpose.

Rizwan, Momina and Patoğlu, Volkan and Erdem, Esra (2020) Human robot collaborative assembly planning: an answer set programming approach. Theory and Practice of Logic Programming (SI), 20 (6). pp. 1006-1020. ISSN 1471-0684 (Print) 1475-3081 (Online)

This is the latest version of this item.

Full text not available from this repository. (Request a copy)

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.
Item Type: Article
Additional Information: WoS Document Type: Article; Proceedings Paper [Conference Meeting: 36th International Conference on Logic Programming (ICLP) / Location: ELECTR NETWORK / Date: SEP 20-25, 2020] -- Scopus Document Type: Conference Paper
Uncontrolled Keywords: answer set programming, cognitive robotics, conditional planning, assembly planning, human-robot interaction, hybrid reasoning, robotic planning, planning under uncertain
Divisions: Faculty of Engineering and Natural Sciences > Academic programs > Mechatronics
Faculty of Engineering and Natural Sciences > Academic programs > Computer Science & Eng.
Faculty of Engineering and Natural Sciences
Depositing User: Volkan Patoğlu
Date Deposited: 06 Sep 2021 22:53
Last Modified: 04 Aug 2023 22:35
URI: https://research.sabanciuniv.edu/id/eprint/42354

Available Versions of this Item

Actions (login required)

View Item
View Item