Future for Intelligent Manufacturing :Trend
Towards Cognition-Guided , Knowledge based
Control of robots and of machines and of factories
1
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
Safe Human-Robot Cooperation for Intelligent manufacturing
Reactive pathplanning based on multikriterieller Optimisation
Echtzeitfähiger Optischer
Fluss
2
Echtzeitfähige Kooperation für komplexe
Roboterzellen
Kinematik
Rekonstruktion
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
*MAROCO  safe huMAn RObot COoperation
Intelligent safe Human Robot interaction with a
cognitive system
MAROCO*:
A 3D cognitive software system based on analyzing image sequences
delivered by the TOF Kamera CamCube 3.0
Cognitive Cycle
Perception
Sensorics
and
Processing
Recognition Understanding
Analysis
and
Visualisation
Interpretation
and
NLG
Action
Planning
and
Execution
Source: PMDTec
3
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
Intelligent Service Robots and Humanoid
Robots for Intelligent manufacturing
Research Field Humanoid robots
Humanoid, cooperating and learning robots
Mobile service robots
Maintenance and human-machine interaction
Teleoperation
Haptic feedback, tactile sensing
Augmented Reality
Anthropomorphic grippers
4
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
The System Architecture of MAROCO
5
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
OWL-based Situation Classification
𝑆𝑐𝑒𝑛𝑒 𝐴𝑛𝑎𝑙𝑦𝑠𝑖𝑠
•
•
•
•
•
•
Object Class Taxonomy
Object Class Definition
Activity Class Taxonomy
Situation Class Taxonomy
Situation Class Definition
Object Property Taxonomy
•
•
•
Objects Assertions
Object Context Assertions
Object Activities Assertions
𝐾𝑛𝑜𝑤𝑙𝑒𝑑𝑔𝑒 𝐵𝑎𝑠𝑒
𝐴 − 𝐵𝑜𝑥
dynamic
•
•
𝑅𝑒𝑎𝑠𝑜𝑛𝑒𝑟
6
Prof. Dr.-Ing. Heinz Wörn
Object Context Classification
Local Situation Classification
(Multiple Classes Possible)
𝑂𝑊𝐿 𝐴𝑃𝐼
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
Risk Assessment
Problem:
Shared work space: No temporal and spatial
separation
Autonomy of the robot:
Varying degree of autonomy of the
robot in the
interaction scenarios
Risk Assessment:
Estimating the risk of the human dependent on
various factors:
Situation
Activity
Distance to the robot
Adaptation of the system:
Dynamic adaptation of the robot’s path based
on the risk estimation
7
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
Knowledge Base
Activity and situation ontology
situation
# humans
robot alone
walking
by
human
Distraction
of attention
takes
place
human present
aware of
robot
done
by
communication
cooperation
acitvity
velocity
walking
standing
ignore
move arms
head o.
arm
angles
monitor
hold tool
used
tools
8
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
Ojectives and Execution Planning
Ontology about objectives
Reasoning allows inference
about situations and actions
Extraction of inferred
objective
System overview of execution
planning
Based on Situation Calculus
Using Action Language GOLOG
9
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
ARMAR-IV
63 DOF
170 cm
70 kg
10
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
The tactile sensor - artificial skin
Force resistive measure principle
Mapping the surface information to Force-Input for the control
11
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)
Haptic and Tactile exploration of objects
12
Institut für Anthropomatik und Robotik Robotics and Automation Lab (IPR)