Enabling robot to assist human in collaborative assembly using convolutional neural networks

Yi Chen, Weitian Wang, Venkat Krovi, Yunyi Jia

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

Human-robot collaborative assembly consists of humans and automated robots, who cooperate with each other to accomplish complex assembly tasks, which are difficult for either humans or robots to accomplish alone. There has been some success in statistics-based and optimization-based approaches to realize human-robot collaboration. However, they usually need a set of complex modeling and setup efforts and the robots usually need to be programmed by a well-trained expert. In this paper, we take a new approach by introducing convolutional neural networks (CNN) into the teaching- learning-collaboration (TLC) model for collaborative assembly tasks. The proposed approach can alleviate the need for complex modeling and setup compared to the existing approaches. It can collect and automatically label the data from human demonstrations and then train a CNN-based robot assistance model to make the robot assist humans in the assembly process in real-time. We have experimentally verified our proposed approach on a human-robot collaborative assembly platform and the results suggest that the robot can successfully learn from human demonstrations to automatically generate right actions to assist human in accomplishing assembly tasks.

Original languageEnglish
Title of host publication2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages11167-11172
Number of pages6
ISBN (Electronic)9781728162126
DOIs
StatePublished - 24 Oct 2020
Event2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 - Las Vegas, United States
Duration: 24 Oct 202024 Jan 2021

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2020 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020
Country/TerritoryUnited States
CityLas Vegas
Period24/10/2024/01/21

Fingerprint

Dive into the research topics of 'Enabling robot to assist human in collaborative assembly using convolutional neural networks'. Together they form a unique fingerprint.

Cite this