Vision AI-based human-robot collaborative assembly driven by autonomous robots

Abstract

Autonomous robots that understand human instructions can significantly enhance the efficiency in human-robot assembly operations where robotic support is needed to handle unknown objects and/or provide on-demand assistance. This paper introduces a vision AI-based method for human-robot collaborative (HRC) assembly, enabled by a large language model (LLM). Upon 3D object reconstruction and pose establishment through neural object field modelling, a visual servoing-based mobile robotic system performs object manipulation and navigation guidance to a mobile robot. The LLM model provides text-based logic reasoning and high-level control command generation for natural human-robot interactions. The effectiveness of the presented method is experimentally demonstrated.