Cognition-driven Robot Decision Making Method in Human-robot Collaboration Environment

Rong Zhang, Xinyu Li, Yu Zheng, Jianhao Lv, Jie Li, Pai Zheng, Jinsong Bao

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

1 Citation (Scopus)

Abstract

Human-robot collaboration (HRC) is an important method for manufacturing industry to realize intelligent and flexible production. While robots partially replace human labor, they improve production efficiency and accelerate the process of intellectualization. However, in the human-robot collaboration system, when humans and robots need to perform frequent collaborative operations, the execution of cobot actions is plagued by the robot's inability to know the trend of human behavior in advance, which in turn leads to decision delays or decision errors. In this regard, a cognition-driven robot decision-making method in a human-robot collaboration environment is proposed to divided acceptance, rejection and delay regions for decision values, and use a process of dynamic adjustment of decision values and region boundaries to simulate the human decision-making process to achieve robot decision cognition. At the same time, a reinforcement learning algorithm is used to optimize the decision boundary values based on the reward function to improve the cognitive efficiency and arrive at the final decision results as soon as possible. Finally, we take the assembly process of engine end cover as the goal of the cooperative task, and find that the efficiency is improved compared with the cooperative method based on attitude recognition.

Original languageEnglish
Title of host publication2022 IEEE 18th International Conference on Automation Science and Engineering, CASE 2022
PublisherIEEE Computer Society
Pages54-59
Number of pages6
ISBN (Electronic)9781665490429
DOIs
Publication statusPublished - Aug 2022
Event18th IEEE International Conference on Automation Science and Engineering, CASE 2022 - Mexico City, Mexico
Duration: 20 Aug 202224 Aug 2022

Publication series

NameIEEE International Conference on Automation Science and Engineering
Volume2022-August
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Conference

Conference18th IEEE International Conference on Automation Science and Engineering, CASE 2022
Country/TerritoryMexico
CityMexico City
Period20/08/2224/08/22

Keywords

  • cognition processing
  • human-robot collaboration
  • reinforcement learning
  • three-way decision

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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