More Web Proxy on the site http://driver.im/

research-article

Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization

Authors:

Mayank Kishore,

Harish Ravichandar,

Sonia ChernovaAuthors Info & Claims

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Pages 11052 - 11057

https://doi.org/10.1109/IROS45743.2020.9341058

Published: 24 October 2020 Publication History

Abstract

We address the problem of adapting robot trajectories to improve safety, comfort, and efficiency in humanrobot collaborative tasks. To this end, we propose CoMOTO, a trajectory optimization framework that utilizes stochastic motion prediction to anticipate the human's motion and adapt the robot's joint trajectory accordingly. We design a multiobjective cost function that simultaneously optimizes for i) separation distance, ii) visibility of the end-effector, iii) legibility, iv) efficiency, and v) smoothness. We evaluate CoMOTO against three existing methods for robot trajectory generation when in close proximity to humans. Our experimental results indicate that our approach consistently outperforms existing methods over a combined set of safety, comfort, and efficiency metrics.

References

[1]

P. A. Lasota, G. F. Rossano, and J. A. Shah, “Toward safe close-proximity human-robot interaction with standard industrial robots,” in IEEE International Conference on Automation Science and Engineering (CASE). IEEE, 2014, pp. 339-344.

[2]

G. Dumonteil, G. Manfredi, M. Devy, A. Confetti, and D. Sidobre, “Reactive planning on a collaborative robot for industrial applications,” in 12th International Conference on Informatics in Control, Automation and Robotics (ICINCO), vol. 2. IEEE, 2015, pp. 450-457.

[3]

C.-M. Huang, M. Cakmak, and B. Mutlu, “Adaptive coordination strategies for human-robot handovers.” in Robotics: Science and Systems, vol. 11. Rome, Italy, 2015.

[4]

J. Mainprice and D. Berenson, “Human-robot collaborative manipulation planning using early prediction of human motion,” in IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2013, pp. 299-306.

[5]

A. Fishman, C. Paxton, W. Yang, N. Ratliff, and D. Fox, “Trajectory optimization for coordinated human-robot collaboration,” arXiv preprint arXiv:1910.04339, 2019.

[6]

T. Stouraitis, I. Chatzinikolaidis, M. Gienger, and S. Vijayakumar, “Dyadic collaborative manipulation through hybrid trajectory optimization.” in CoRL, 2018, pp. 869-878.

[7]

C. -M. Huang and B. Mutlu, “Anticipatory robot control for efficient human-robot collaboration,” in 11th ACM/IEEE international conference on human-robot interaction (HRI). IEEE, 2016, pp. 83-90.

[8]

G. Maeda, A. Maloo, M. Ewerton, R. Lioutikov, and J. Peters, “Anticipative interaction primitives for human-robot collaboration,” in AAAI Fall Symposium Series, 2016.

[9]

J. Mainprice, E. A. Sisbot, L. Jaillet, J. Cortés, R. Alami, and T. Siméon, “Planning human-aware motions using a sampling-based costmap planner,” in IEEE International Conference on Robotics and Automation. IEEE, 2011, pp. 5012-5017.

[10]

P. A. Lasota, T. Fong, J. A. Shah, et al., “A survey of methods for safe human-robot interaction,” Foundations and TrendsⓇ in Robotics, vol. 5, no. 4, pp. 261-349, 2017.

[11]

A. Dragan, K. Lee, and S. Srinivasa, “Legibility and predictability of robot motion,” in Proceedings of Human-Robot Interaction, March 2013.

[12]

A. Dragan and S. Srinivasa, “Generating legible motion,” in Robotics: Science and Systems, 2013.

[13]

F. Stulp, J. Grizou, B. Busch, and M. Lopes, “Facilitating intention prediction for humans by optimizing robot motions,” in IEEE/RSJ international conference on intelligent robots and systems (IROS). IEEE, 2015, pp. 1249-1255.

[14]

J. R. Medina, F. Duvallet, M. Karnam, and A. Billard, “A human-inspired controller for fluid human-robot handovers,” in IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids). IEEE, 2016, pp. 324-331.

[15]

J. Schulman, Y. Duan, J. Ho, A. Lee, I. Awwal, H. Bradlow, J. Pan, S. Patil, K. Goldberg, and P. Abbeel, “Motion planning with sequential convex optimization and convex collision checking,” The International Journal of Robotics Research, vol. 33, no. 9, pp. 1251-1270, 2014.

Digital Library

[16]

M. Zucker, N. Ratliff, A. D. Dragan, M. Pivtoraiko, M. Klingensmith, C. M. Dellin, J. A. Bagnell, and S. S. Srinivasa, “Chomp: Covariant hamiltonian optimization for motion planning,” The International Journal of Robotics Research, vol. 32, no. 9-10, pp. 1164-1193, 2013.

Digital Library

[17]

M. Kalakrishnan, S. Chitta, E. Theodorou, P. Pastor, and S. Schaal, “Stomp: Stochastic trajectory optimization for motion planning,” in IEEE international conference on robotics and automation. IEEE, 2011, pp. 4569-4574.

[18]

L. Jaillet, J. Cortés, and T. Siméon, “Transition-based rrt for path planning in continuous cost spaces,” in IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2008, pp. 2145-2150.

[19]

E. A. Sisbot, L. F. Marin-Urias, R. Alami, and T. Simeon, “Spatial reasoning for human-robot interaction,” in IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2007.

[20]

C. Hennersperger, B. Fuerst, S. Virga, O. Zettinig, B. Frisch, T. Neff, and N. Navab, “Towards mri-based autonomous robotic us acquisitions: a first feasibility study,” IEEE transactions on medical imaging, vol. 36, no. 2, pp. 538-548, 2017.

[21]

R. Luo, R. Hayne, and D. Berenson, “Unsupervised early prediction of human reaching for human-robot collaboration in shared workspaces,” Autonomous Robots, vol. 42, no. 3, pp. 631-648, 2018.

Digital Library

Cited By

Ramachandruni KKent CChernova S(2023)UHTP: A User-Aware Hierarchical Task Planning Framework for Communication-Free, Mutually-Adaptive Human-Robot CollaborationACM Transactions on Human-Robot Interaction10.1145/362338713:3(1-27)Online publication date: 22-Sep-2023
https://dl.acm.org/doi/10.1145/3623387
Choi AJawed MJoo J(2022)Preemptive Motion Planning for Human-to-Robot Indirect Placement Handovers2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9811558(4743-4749)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1109/ICRA46639.2022.9811558

Index Terms

Anticipatory Human-Robot Collaboration via Multi-Objective Trajectory Optimization

Index terms have been assigned to the content through auto-classification.

Recommendations

Trajectory Advancement during Human-Robot Collaboration
2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)
As technology advances, the barriers between the co-existence of humans and robots are slowly coming down. The prominence of physical interactions for collaboration and cooperation between humans and robots will be an undeniable fact. Rather than ...
A Multi-objective Optimization Approach for Trajectory Planning in a Safe and Ergonomic Human-Robot Collaboration
2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)
In today’s manufacturing companies that rely on Human-Robot Collaboration (HRC), ensuring a safe and ergonomic workplace is becoming of pivotal importance. In a collaborative assembly scenario, this paper aims at planning the trajectory of a ...
Multi-objective optimisation for humanoid robot motion planning

Single objective optimisation method is primarily adopted to solve humanoid robot gait optimisation problems. However, this method has certain limitations because it can consider only one objective function, such as energy, stability, or speed. This ...

Comments

Please enable JavaScript to view thecomments powered by Disqus.

Information & Contributors

Information

Published In

cover image Guide Proceedings

2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Oct 2020

5642 pages

Copyright © 2020.

Publisher

IEEE Press

Publication History

Published: 24 October 2020

Qualifiers

Research-article

Contributors

Other Metrics

View Article Metrics

Bibliometrics & Citations

Bibliometrics

Article Metrics

2
Total Citations
View Citations
0
Total Downloads

Downloads (Last 12 months)0
Downloads (Last 6 weeks)0

Reflects downloads up to 21 Dec 2024

Other Metrics

View Author Metrics

Citations

Cited By

Ramachandruni KKent CChernova S(2023)UHTP: A User-Aware Hierarchical Task Planning Framework for Communication-Free, Mutually-Adaptive Human-Robot CollaborationACM Transactions on Human-Robot Interaction10.1145/362338713:3(1-27)Online publication date: 22-Sep-2023
https://dl.acm.org/doi/10.1145/3623387
Choi AJawed MJoo J(2022)Preemptive Motion Planning for Human-to-Robot Indirect Placement Handovers2022 International Conference on Robotics and Automation (ICRA)10.1109/ICRA46639.2022.9811558(4743-4749)Online publication date: 23-May-2022
https://dl.acm.org/doi/10.1109/ICRA46639.2022.9811558

View Options

View options

Media

Figures

Other

Tables

View Table of Contents