towards shared autonomy for robotic tasks in manufacturing€¦ · towards shared autonomy for...

FAIM2017 27-30 June 2017 – University of Modena and RE

Towards shared autonomy for robotic tasks in manufacturing

Presenting author: Sharath Chandra Akkaladevi, Profactor GmbH

Andreas Pichler, Markus Ikeda, Michael Hofmann, Matthias Plasch, Christian Wögerer, Gerald Fritz


Profactor GmbH

• Established in 1995

• Austria's No. 1 in applied production research

• 74 employees

• Research for Industry


Contents

Motivation

The XROB System

Human Robot Interaction– Cooperation

– Collaboration

Future Work


Introduction

Aging workforce in Europe

Consequential skill drain

Solution:

Cooperation between Human(s) andMachine(s)

• Goal: Increase the effectiveness and efficiency

• Requirement: Safe and natural workflow

Smart assembly line robots

(Image Sources: Eurostat; Yaskawa Motomon Robotics)


Forms of Human Robot Interaction

Shen Yi, München, 2015Thiemermann (PhD Thesis), Heimsheim, 2005.


Batch Size 1 - Requirements

Paradigm shift from mass production to mass customization

Handle a variety of different tasks, and be able to be reprogrammed fast by non-robot expert

The aim of reducing the amount of programming required by an non-expert using natural modes of communication is still an open topic

M. R. Pedersen et. al, 2016


Skill Based Learning

Skills instantiate action

Form the building blocks of the task

Intuitive object-centered robot abilities, which can easily be parameterized by a non-expert

• Focus on knowledge sharing between robots with similar capabilities

• Action – perception loop

RoboEarth 2011


XROB System

PerceptionSystem

Application Development

Cognitive Reasoning

System

Planning and Execution System

OMPL 2010RRT-Connect (ICRA 2000)

ReconstructMe, Profactor GmbHCANDELOR, Profactor GmbHAkkaladevi et. al, (ICRA 2016)Akkaladevi et. al, (CGVIS 2015)

Akkaladevi et. al, (ECAI, 2016)Akkaladevi et. al, (IHCI 2016)Akkaladevi et. al, (HRI 2017)


The XROB System - Video


XROB GUI - Video


XROB System – Skill Based Learning

• Set of skills form a task

• Tasks combines to form a recipe (for the process)

• In built services for sensor and actuators

• Parametrization online– Position

– Scan

– Reference

– Evaluation


Applications

• Human Robot Cooperation– Hand-guided

– Tangible Interfaces

• Human Robot Collaboration– Interactive learning


Human Robot Cooperation


Human Robot Cooperation

Human robot cooperation – where both agents simultaneously work on the same work piece

The AssistMe Project

https://www.profactor.at/.../projects/assistme/

http://images.google.at/imgres?imgurl=http://www.boomer5.com/images/bmw-logo.jpg&imgrefurl=http://www.boomer5.com/es/&h=758&w=764&sz=56&hl=de&start=5&tbnid=TbNKnh9gVrdN-M:&tbnh=141&tbnw=142&prev=/images?q=bmw+logo&gbv=2&svnum=10&hl=de&sa=G

https://www.profactor.at/.../projects/assistme/


Human Robot Cooperation – Video (1)


Comparison of two robotic systems

Duration(in minutes) of parametrization for different robotic systems


Tangible Interfaces - Video


Human Robot Collaboration

Human Robot Collaboration is where both agents perform coordinated actions on the same task

Project KoMoProd

• Creating a “common understanding” of the task

• Generation of recipes online

https://www.profactor.at/.../projects/komoprod/

https://www.profactor.at/.../projects/komoprod/


Human Robot Collaboration - Video


Interactive Learning


Contributions

Easy intuitive programming for non-experts

Programming by demonstration features with help of GUI

• Tangible interfaces

• Interactive learning

Applicability to Human robot interactive assembly tasks with varying complexity


Future work

MMAssist_II - Assistive Systems for production in Human machine cooperation context (FFG, 858623), started on 01.05.2017 (3 Year Project) with 25 partners (10 Scientific partners, 15 Industrial partners)

Homepage: www.mmassist.at

http://www.mmassist.at/


Thank you

DI Sharath Chandra Akkaladevi

PROFACTOR GmbH

Im Stadtgut A2 | 4407 Steyr-Gleink | Austria

Tel. +43(7252) 885-325 | Fax +43(7252) 885-101

[email protected]

www.profactor.at

This work is funded by the projects KoMoProd (Austrian Ministry for Transport, Innovation and Technology), AssistMe (FFG, 848653), CompleteMe (FFG, 849441) and MMAssistII (FFG, 858623)


Appendix


References

E. Dean-Leon et.al, "Robotic technologies for fast deployment of industrial robot systems," in Industrial Electronics Society, IECON 2016-42nd Annual Conference of the IEEE, 2016. F. Steinmetz and R. Weitschat, "Skill parametrization approaches and skill architecture for human-robot interaction," in Automation Science and Engineering (CASE), 2016 IEEE International Conference on, 2016. M. R. Pedersen et. al, , "Robot skills for manufacturing: From concept to industrial deployment," Robotics and Computer-Integrated Manufacturing, vol. 37, pp. 282-291, 2016. D. Holz et. al, "A skill-based system for object perception and manipulation for automating kitting tasks," in Emerging Technologies & Factory Automation (ETFA), 2015 IEEE 20th Conference on, 2015.M. R. Pedersen and V. Krüger, "Automated planning of industrial logistics on a skill-equipped robot," in IROS 2015 workshop Task Planning for Intelligent Robots in Service and Manufacturing, Hamburg, Germany, 2015. W. K. H. Ko, Y. Wu, K. P. Tee and J. Buchli, "Towards industrial robot learning from demonstration," in Proceedings of the 3rd International Conference on Human-Agent Interaction, 2015. B. Finkemeyer, T. Kröger and F. M. Wahl, "Executing assembly tasks specified by manipulation primitive nets," Advanced Robotics, vol. 19, pp. 591-611, 2005. M. N. Nicolescu et.al, "Natural methods for robot task learning: Instructive demonstrations, generalization and practice," in Proceedings of the second international joint conference on Autonomous agents and multiagent systems, 2003. H. Mosemann and F. M. Wahl, "Automatic decomposition of planned assembly sequences into skill primitives," IEEE transactions on Robotics and Automation, vol. 17, pp. 709-718, 2001. H. Bruyninckx and J. De Schutter, "Specification of force-controlled actions in the" task frame formalism-a synthesis," IEEE transactions on robotics and automation, vol. 12, pp. 581-589, 1996.


Forms of Human Robot Interaction

Shen, Yi: System für die Mensch-Roboter-Koexistenz in der Fließmontage (Forschungsberichte / IWB 305), München, 2015.Thiemermann, Stefan: Direkte Mensch-Roboter-Kooperation in der Kleinteilemontage mit einem SCARA-Roboter. Univ., Diss.--Stuttgart, 2005 (IPA-IAO-Forschung und -Praxis 411), Heimsheim, 2005.

Human and robots perform individual

tasksPassively guided robot assistance

Human and Robot working on the same

work piece

Human and Robot working on the same

task

Close proximity Provide Physical Support

Synchronized action

Coordinated action

Coexistence Assistance Cooperation Collaboration

Forms of Human Robot Interactions in an Assembly Process

Process SpeedSafety Requirements


XROB System Contd...

Easy-to-use features that significantly speed up commissioning and make the operation more cost-efficient and flexible than common programming methods

The special software architecture allows easy and intuitive creation of processes and configuration of the components of a robot system via a single user interface


XROB

XROB platform for building human robot interactions in an intuitive way

Enables applications requiring customized patterns of human robot interactions

A flexible quality inspection system with intuitive configuration capabilities

towards shared autonomy for robotic tasks in manufacturing€¦ · towards shared autonomy for...

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