While industrial collaborative robot programming becomes more and more accessible, building adaptable and modular behaviors is still out of reach for most non-programmer experts. Allowing any human to teach cobots complex and personalized behaviors with natural means of communication would likely ease their acceptability and long-term co-integration in industries of all sizes. In this paper, we present a prototype of robotic cognitive architecture for interactive task learning (ITL) integrating human preferences in a human-robot collaborative industrial context. The architecture is based on integrating connectionist modules, such as deep learning modules, and symbolic semantic graphs, such as behavior trees, for modular skill representations and learning. An experimental validation was made on a real UR10e industrial collaborative robot. The cobot is taught, online and incrementally, a simple task with variations based on human preferences.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A Cognitive Architecture for Human-Aware Interactive Robot Learning with Industrial Collaborative Robots


    Additional title:

    Lect. Notes in Networks, Syst.



    Conference:

    Iberian Robotics conference ; 2023 ; Coimbra, Portugal November 22, 2023 - November 24, 2023



    Publication date :

    2024-04-27


    Size :

    14 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English




    Human-Aware Physical Human-Robot Collaborative Transportation and Manipulation with Multiple Aerial Robots

    Li, Guanrui / Liu, Xinyang / Loianno, Giuseppe | ArXiv | 2022

    Free access

    A Cognitive Robot Collaborative Reinforcement Learning Algorithm

    Amit Gil / Helman Stern / Yael Edan | BASE | 2009

    Free access

    Intelligent Tactile System and Human-Robot Interaction for Collaborative Robots

    Liang, Xiujuan / Gao, Hang / Wang, Peng et al. | Springer Verlag | 2023


    Human-Robot Autonomous System: An Interactive Architecture

    Moreira, Giovane / Leite, Anderson / Díaz-Amado, José et al. | TIBKAT | 2024


    Intelligent Tactile System and Human-Robot Interaction for Collaborative Robots

    Liang, Xiujuan / Gao, Hang / Wang, Peng et al. | TIBKAT | 2023