让机器人与操作员像人一样对话，提升协作效率并减少安全降速。
Collaborative Conversation in Safe Multimodal Human-Robot Collaboration
- 构建类人对话框架，实现人机自然高效沟通。
- 执行时间减少23%，机器人停机时间降低50%。
- 适合需要高安全、高效率协作的工业场景。
在人机协作（HRC）中，双方需以自然高效的方式进行通信。缺乏通信接口常导致效率下降：一方面因突发状况引发错误，另一方面因人机近距离接触需严格遵守安全标准ISO/TS 15066而大幅降速。本文提出一种新型架构，使操作员与机器人能模拟人类对话方式高效通信，同时保障安全。通过预测性仿真器预判安全限制，实现流程更顺畅、风险更低、效率更高。该架构在UR10e机器人上验证，并与现有先进方法对比，结果表明用户体验显著改善，执行时间减少23%，机器人停机时间降低50%。
原文摘要 · Abstract (English)
In the context of Human-Robot Collaboration (HRC), it is crucial that the two actors are able to communicate with each other in a natural and efficient manner. The absence of a communication interface is often a cause of undesired slowdowns. On one hand, this is because unforeseen events may occur, leading to errors. On the other hand, due to the close contact between humans and robots, the speed must be reduced significantly to comply with safety standard ISO/TS 15066. In this paper, we propose a novel architecture that enables operators and robots to communicate efficiently, emulating human-to-human dialogue, while addressing safety concerns. This approach aims to establish a communication framework that not only facilitates collaboration but also reduces undesired speed reduction. Through the use of a predictive simulator, we can anticipate safety-related limitations, ensuring smoother workflows, minimizing risks, and optimizing efficiency. The overall architecture has been validated with a UR10e and compared with a state of the art technique. The results show a significant improvement in user experience, with a corresponding 23% reduction in execution times and a 50% decrease in robot downtime.
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