Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing
© 2013 Massachusetts Institute of Technology. Human-robot collaboration presents an opportunity to improve the efficiency of manufacturing and assembly processes, particularly for aerospace manufacturing where tight integration and variability in the build process make physical isolation of robotic-...
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| Format: | Article |
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Robotics: Science and Systems Foundation
2018
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| Online Access: | http://hdl.handle.net/1721.1/116089 https://orcid.org/0000-0003-1338-8107 |
| _version_ | 1826189069886947328 |
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| author | Wilcox, Ronald James Nikolaidis, Stefanos Shah, Julie A |
| author2 | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics |
| author_facet | Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Wilcox, Ronald James Nikolaidis, Stefanos Shah, Julie A |
| author_sort | Wilcox, Ronald James |
| collection | MIT |
| description | © 2013 Massachusetts Institute of Technology. Human-robot collaboration presents an opportunity to improve the efficiency of manufacturing and assembly processes, particularly for aerospace manufacturing where tight integration and variability in the build process make physical isolation of robotic-only work challenging. In this paper, we develop a robotic scheduling and control capability that adapts to the changing preferences of a human co-worker or supervisor while providing strong guarantees for synchronization and timing of activities. This innovation is realized through dynamic execution of a flexible optimal scheduling policy that accommodates temporal disturbance. We describe the Adaptive Preferences Algorithm that computes the flexible scheduling policy and show empirically that execution is fast, robust, and adaptable to changing preferences for workflow. We achieve satisfactory computation times, on the order of seconds for moderatelysized problems, and demonstrate the capability for human-robot teaming using a small industrial robot. |
| first_indexed | 2024-09-23T08:09:22Z |
| format | Article |
| id | mit-1721.1/116089 |
| institution | Massachusetts Institute of Technology |
| last_indexed | 2024-09-23T08:09:22Z |
| publishDate | 2018 |
| publisher | Robotics: Science and Systems Foundation |
| record_format | dspace |
| spelling | mit-1721.1/1160892022-09-23T11:16:07Z Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing Wilcox, Ronald James Nikolaidis, Stefanos Shah, Julie A Massachusetts Institute of Technology. Department of Aeronautics and Astronautics Massachusetts Institute of Technology. Department of Mechanical Engineering Wilcox, Ronald James Nikolaidis, Stefanos Shah, Julie A © 2013 Massachusetts Institute of Technology. Human-robot collaboration presents an opportunity to improve the efficiency of manufacturing and assembly processes, particularly for aerospace manufacturing where tight integration and variability in the build process make physical isolation of robotic-only work challenging. In this paper, we develop a robotic scheduling and control capability that adapts to the changing preferences of a human co-worker or supervisor while providing strong guarantees for synchronization and timing of activities. This innovation is realized through dynamic execution of a flexible optimal scheduling policy that accommodates temporal disturbance. We describe the Adaptive Preferences Algorithm that computes the flexible scheduling policy and show empirically that execution is fast, robust, and adaptable to changing preferences for workflow. We achieve satisfactory computation times, on the order of seconds for moderatelysized problems, and demonstrate the capability for human-robot teaming using a small industrial robot. Boeing Research and Technology ABB Inc.Mechatronics US Corporate Research 2018-06-05T14:48:11Z 2018-06-05T14:48:11Z 2012-07 2018-04-10T17:59:33Z Article http://purl.org/eprint/type/ConferencePaper 9780262519687 http://hdl.handle.net/1721.1/116089 Wilcox, Ronald, Stefanos Nikolaidis, and Julie Shah. “Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing.” Robotics: Science and Systems VIII (July 9, 2012). https://orcid.org/0000-0003-1338-8107 http://dx.doi.org/10.15607/RSS.2012.VIII.056 Robotics: Science and Systems VIII Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Robotics: Science and Systems Foundation MIT Web Domain |
| spellingShingle | Wilcox, Ronald James Nikolaidis, Stefanos Shah, Julie A Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing |
| title | Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing |
| title_full | Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing |
| title_fullStr | Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing |
| title_full_unstemmed | Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing |
| title_short | Optimization of Temporal Dynamics for Adaptive Human-Robot Interaction in Assembly Manufacturing |
| title_sort | optimization of temporal dynamics for adaptive human robot interaction in assembly manufacturing |
| url | http://hdl.handle.net/1721.1/116089 https://orcid.org/0000-0003-1338-8107 |
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