Human-Robot Collaborative Assembly with Hierarchical Goal Planning by LSTM-RNN

Abstract

Collaboration between human and robot such as object assembly in real environment is expected. Since the difficulty of realizing human-level intelligence, developing collaborative robots as “human support machine” is realistic. To realize it, hierarchical (long-term and short-term) goal planning and replanning ability is necessary. In this research, we develop a learning-based system that enables robots to realize planning and replanning ability for long/short-term goals. Experimental results demonstrate that a robot with the developed system successfully collaborated with human and achieved task goals by using hierarchical planning ability. Even the situation was changed, the robot was able to generate replanned movement to adapt to the change.