Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing
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RSS_2012_Published_Version.pdf
Size
2.32 MB
Format
Adobe PDF
Checksum (MD5)
9d2c029f16ab9dd5fa41480faa017f5b
Author(s)
Wilcox, Ronald James
Nikolaidis, Stefanos
Shah, Julie A
Date Issued
July 2012
Journal
Robotics: Science and Systems VIII
Publisher
Robotics: Science and Systems Foundation
Citation
Wilcox, Ronald, Stefanos Nikolaidis, and Julie Shah. “Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing.” Robotics: Science and Systems VIII (July 9, 2012).
Version
Author's final manuscript
Abstract
© 2013 Massachusetts Institute of Technology. Human-robot collaboration presents an opportunity to improve the efficiency of manufacturing and assembly processes, particularly for aerospace manufacturing where tight integration and variability in the build process make physical isolation of robotic-only work challenging. In this paper, we develop a robotic scheduling and control capability that adapts to the changing preferences of a human co-worker or supervisor while providing strong guarantees for synchronization and timing of activities. This innovation is realized through dynamic execution of a flexible optimal scheduling policy that accommodates temporal disturbance. We describe the Adaptive Preferences Algorithm that computes the flexible scheduling policy and show empirically that execution is fast, robust, and adaptable to changing preferences for workflow. We achieve satisfactory computation times, on the order of seconds for moderatelysized problems, and demonstrate the capability for human-robot teaming using a small industrial robot.
MIT Department
Massachusetts Institute of Technology. Department of Aeronautics and Astronautics
Massachusetts Institute of Technology. Department of Mechanical Engineering
Terms of Use
Creative Commons Attribution-Noncommercial-Share Alike
Persistent DSpace Link
DOI of Published Version
https://doi.org/10.15607/RSS.2012.VIII.056
