论文标题
任务不合时宜的改编
Task-Agnostic Adaptation for Safe Human-Robot Handover
论文作者
论文摘要
人类机器人相互作用（HRI）是提高现代生产线灵活性的重要组成部分。但是，在实际应用程序中，任务（\ ie机器人需要操作的条件，例如环境照明条件，与人类的受试者进行互动以及硬件平台）可能会有所不同，并且在这些更改的任务下，它仍然具有挑战性，以优化有效地配置和适应机器人系统。为了应对挑战，本文提出了一个任务不足的适应性控制器，该控制器可以1）适应不同的照明条件，2）适应个人行为并确保与不同人类互动时的安全性，3）启用具有不同控制接口的机器人平台的轻松传输。使用FANUC LR MATE 200ID/7L机器人和Kinova Gen3机器人对人类机器人切换任务进行了测试。实验表明，所提出的任务无形控制器可以在不同任务上实现一致的性能。
Human-robot interaction (HRI) is an important component to improve the flexibility of modern production lines. However, in real-world applications, the task (\ie the conditions that the robot needs to operate on, such as the environmental lighting condition, the human subjects to interact with, and the hardware platforms) may vary and it remains challenging to optimally and efficiently configure and adapt the robotic system under these changing tasks. To address the challenge, this paper proposes a task-agnostic adaptable controller that can 1) adapt to different lighting conditions, 2) adapt to individual behaviors and ensure safety when interacting with different humans, and 3) enable easy transfer across robot platforms with different control interfaces. The proposed framework is tested on a human-robot handover task using the FANUC LR Mate 200id/7L robot and the Kinova Gen3 robot. Experiments show that the proposed task-agnostic controller can achieve consistent performance across different tasks.
