Name
Abstract | ||
|---|---|---|
In reality, there is still much to be done for robots to be able to perform manipulation actions with full autonomy. Complicated manipulation tasks, such as cooking, may still require a person to perform some actions that are very risky for a robot to perform. On the other hand, some other actions may be very risky for a human with physical disabilities to perform. Therefore, it is necessary to balance the workload of a robot and a human based on their limitations while minimizing the effort needed from a human in a collaborative robot (robot) set-up. This paper proposes a new version of our functional object-oriented network (FOON) that integrates weights in its functional units to reflect a robot's chance of successfully executing an action of that functional unit. The paper also presents a task planning algorithm for the weighted FOON to allocate manipulation action load to the robot and human to achieve optimal performance while minimizing human effort. Through a number of experiments, this paper shows several successful cases in which using the proposed weighted FOON and the task planning algorithm allow a robot and a human to successfully complete complicated tasks together with higher success rates than a robot doing them alone. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ICRA48506.2021.9561680 | 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) |
DocType | Volume | Issue |
Conference | 2021 | 1 |
ISSN | Citations | PageRank |
1050-4729 | 0 | 0.34 |
References | Authors | |
6 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| David Paulius | 1 | 6 | 2.16 |
| Kelvin Sheng Pei Dong | 2 | 0 | 0.34 |
| Yu Sun | 3 | 208 | 35.82 |