Motion planning with worker's trajectory prediction for assembly task partner robot

Yasufumi Tanaka; Jun Kinugawa; Yusuke Sugahara; Kazuhiro Kosuge

doi:10.1109/IROS.2012.6386043

Motion planning with worker's trajectory prediction for assembly task partner robot

Yasufumi Tanaka
, Jun Kinugawa
, Yusuke Sugahara
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

43 Citations (Scopus)

Abstract

We have developed a novel assembly task partner robot to support workers in their task. This system, PaDY (in-time Parts/tools Delivery to You robot), delivers parts and tools to a worker by recognizing the worker's behavior in the car production line; thus, improving the efficiency of the work by reducing the worker's physical workload for picking parts and tools. For this purpose, it is necessary to plan the trajectory of the robot before the worker moves to the next location for another assembling task. First a prediction method for the worker's trajectory using a Markov model for a discretized work space into cells is proposed, then motion planning method is proposed using the predicted worker's trajectory and a mixture Gaussian distribution for each area corresponding to each procedure of the work process in the automobile coordinate system. Experimental results illustrate the validity of the proposed motion planning method. © 2012 IEEE.

Original language	English
Title of host publication	2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012
Pages	1525-1532
DOIs	https://doi.org/10.1109/IROS.2012.6386043
Publication status	Published - 2012
Externally published	Yes
Event	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 - Vilamoura, Algarve, Portugal Duration: 7 Oct 2012 → 12 Oct 2012 https://ieeexplore.ieee.org/xpl/conhome/6363628/proceeding

Publication series

Name	IEEE International Conference on Intelligent Robots and Systems
ISSN (Print)	2153-0858
ISSN (Electronic)	2153-0866

Conference

Conference	25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012
Place	Portugal
City	Vilamoura, Algarve
Period	7/10/12 → 12/10/12
Internet address	https://ieeexplore.ieee.org/xpl/conhome/6363628/proceeding

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

Access Output

10.1109/IROS.2012.6386043

Other Access Options

Check CityUHK Library

Permanent Link

Right click to copy link

Cite this

Tanaka, Y., Kinugawa, J., Sugahara, Y., & Kosuge, K. (2012). Motion planning with worker's trajectory prediction for assembly task partner robot. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012 (pp. 1525-1532). Article 6386043 (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2012.6386043

@inproceedings{20bb7b111c0042f8ba2e12303a420061,

title = "Motion planning with worker's trajectory prediction for assembly task partner robot",

abstract = "We have developed a novel assembly task partner robot to support workers in their task. This system, PaDY (in-time Parts/tools Delivery to You robot), delivers parts and tools to a worker by recognizing the worker's behavior in the car production line; thus, improving the efficiency of the work by reducing the worker's physical workload for picking parts and tools. For this purpose, it is necessary to plan the trajectory of the robot before the worker moves to the next location for another assembling task. First a prediction method for the worker's trajectory using a Markov model for a discretized work space into cells is proposed, then motion planning method is proposed using the predicted worker's trajectory and a mixture Gaussian distribution for each area corresponding to each procedure of the work process in the automobile coordinate system. Experimental results illustrate the validity of the proposed motion planning method. {\textcopyright} 2012 IEEE.",

author = "Yasufumi Tanaka and Jun Kinugawa and Yusuke Sugahara and Kazuhiro Kosuge",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012 ; Conference date: 07-10-2012 Through 12-10-2012",

year = "2012",

doi = "10.1109/IROS.2012.6386043",

language = "English",

isbn = "9781467317375",

series = "IEEE International Conference on Intelligent Robots and Systems",

pages = "1525--1532",

booktitle = "2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012",

url = "https://ieeexplore.ieee.org/xpl/conhome/6363628/proceeding",

}

Tanaka, Y, Kinugawa, J, Sugahara, Y & Kosuge, K 2012, Motion planning with worker's trajectory prediction for assembly task partner robot. in 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012., 6386043, IEEE International Conference on Intelligent Robots and Systems, pp. 1525-1532, 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012, Vilamoura, Algarve, Portugal, 7/10/12. https://doi.org/10.1109/IROS.2012.6386043

Motion planning with worker's trajectory prediction for assembly task partner robot. / Tanaka, Yasufumi; Kinugawa, Jun; Sugahara, Yusuke et al.
2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012. 2012. p. 1525-1532 6386043 (IEEE International Conference on Intelligent Robots and Systems).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - Motion planning with worker's trajectory prediction for assembly task partner robot

AU - Tanaka, Yasufumi

AU - Kinugawa, Jun

AU - Sugahara, Yusuke

AU - Kosuge, Kazuhiro

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2012

Y1 - 2012

N2 - We have developed a novel assembly task partner robot to support workers in their task. This system, PaDY (in-time Parts/tools Delivery to You robot), delivers parts and tools to a worker by recognizing the worker's behavior in the car production line; thus, improving the efficiency of the work by reducing the worker's physical workload for picking parts and tools. For this purpose, it is necessary to plan the trajectory of the robot before the worker moves to the next location for another assembling task. First a prediction method for the worker's trajectory using a Markov model for a discretized work space into cells is proposed, then motion planning method is proposed using the predicted worker's trajectory and a mixture Gaussian distribution for each area corresponding to each procedure of the work process in the automobile coordinate system. Experimental results illustrate the validity of the proposed motion planning method. © 2012 IEEE.

AB - We have developed a novel assembly task partner robot to support workers in their task. This system, PaDY (in-time Parts/tools Delivery to You robot), delivers parts and tools to a worker by recognizing the worker's behavior in the car production line; thus, improving the efficiency of the work by reducing the worker's physical workload for picking parts and tools. For this purpose, it is necessary to plan the trajectory of the robot before the worker moves to the next location for another assembling task. First a prediction method for the worker's trajectory using a Markov model for a discretized work space into cells is proposed, then motion planning method is proposed using the predicted worker's trajectory and a mixture Gaussian distribution for each area corresponding to each procedure of the work process in the automobile coordinate system. Experimental results illustrate the validity of the proposed motion planning method. © 2012 IEEE.

UR - https://www.scopus.com/pages/publications/84872337915

UR - https://www.scopus.com/pages/publications/84872337915#tab=impact

U2 - 10.1109/IROS.2012.6386043

DO - 10.1109/IROS.2012.6386043

M3 - RGC 32 - Refereed conference paper (with host publication)

SN - 9781467317375

T3 - IEEE International Conference on Intelligent Robots and Systems

SP - 1525

EP - 1532

BT - 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012

T2 - 25th IEEE/RSJ International Conference on Robotics and Intelligent Systems, IROS 2012

Y2 - 7 October 2012 through 12 October 2012

ER -

Motion planning with worker's trajectory prediction for assembly task partner robot

Abstract

Publication series

Conference

Bibliographical note

Access Output

Other Access Options

Permanent Link

Other Files and Links

Fingerprint

Cite this