Cognitive Human-Robot-Collaboration in Assembly: A Framework for Cognitive Interaction Planning and Subject Study

摘要

To advance Human-Robot Collaboration in standard assembly, cognitive interaction planning is essential. We propose a framework for interaction planning using Dynamic Field Theory, which is an established framework for modeling embodied cognition. With our framework, an assembly process is divided into phases with cognitive functionality. The robot can understand the human intention and react in a safe and efficient manner to perform the planned task. We illustrate our framework based on an application in an automotive assembly line. The task for the human-robot team is to assemble a chassis deformation element. To evaluate the proposed framework concerning efficiency and subjective acceptance, we conduct a subject study. The study consists of an objective efficiency evaluation and a subjective questionnaire. The result favors the idea of a combination of constant travel speed and obstacle circumvent mechanism for a cognitive Human-Robot Collaboration.