For planning an assembly of a product from a given set of parts, robots necessitate certain cognitive skills: high-level planning is needed to decide the order of actuation actions, while geometric reasoning is needed to check the feasibility of these actions. For collaborative assembly tasks with humans, robots require further cognitive capabilities, such as commonsense reasoning, sensing, and communication skills, not only to cope with the uncertainty caused by incomplete knowledge about the humans’ behaviors but also to ensure safer collaborations. We propose a novel method for collaborative assembly planning under uncertainty, that utilizes hybrid conditional planning extended with commonsense reasoning and a rich set of communication actions for collaborative tasks. Our method is based on answer set programming. We show the applicability of our approach in a real-world assembly domain, where a bi-manual Baxter robot collaborates with a human teammate to assemble furniture.

中文翻译：

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人机协作装配规划：一种答案集编程方法

为了从一组给定的零件规划产品的组装，机器人需要一定的认知技能：需要高级规划来确定驱动动作的顺序，而需要几何推理来检查这些动作的可行性。对于与人类的协作装配任务，机器人需要进一步的认知能力，例如常识推理、感知和沟通能力，不仅要应对人类行为知识不完整所带来的不确定性，还要确保更安全的协作。我们提出了一种在不确定性下进行协作装配规划的新方法，该方法利用混合条件规划扩展了常识推理和一组丰富的协作任务通信动作。我们的方法基于答案集编程。