论文标题
人机协作的双向沟通控制
Bidirectional Communication Control for Human-Robot Collaboration
论文作者
论文摘要
一项富有成果的合作是基于彼此技能的相互知识，以及传达自己的限制并提出替代方案以使执行任务适应合作者的能力的可能性。本文旨在通过提出一种新颖的沟通控制体系结构来重现人类机器人协作环境中的这种情况。利用控制障碍功能，机器人知道其（动态的）技能和限制，并且由于本地预测指标，它可以评估是否可以执行请求的任务，如果没有，则可以通过放松一些约束来提出替代方案。控制器与通信基础架构相连，该基础架构使人类和机器人能够建立有关任务的双向交流，并对人类进行有关机器人行为的明智决定。提出了比较实验验证。
A fruitful collaboration is based on the mutual knowledge of each other skills and on the possibility of communicating their own limits and proposing alternatives to adapt the execution of a task to the capabilities of the collaborators. This paper aims at reproducing such a scenario in a human-robot collaboration setting by proposing a novel communication control architecture. Exploiting control barrier functions, the robot is made aware of its (dynamic) skills and limits and, thanks to a local predictor, it is able to assess if it is possible to execute a requested task and, if not, to propose alternative by relaxing some constraints. The controller is interfaced with a communication infrastructure that enables human and robot to set up a bidirectional communication about the task to execute and the human to take an informed decision on the behavior of the robot. A comparative experimental validation is proposed.
