Working Memory Based Architecture for Human-Aware Navigation in Industrial Settings
- 1. IIT
- 2. Universita' di Genova
Description
To enable a smooth co-existence between robots and
human workers in an industrial setting, we implemented two
robot working memory configurations onto a mobile manipulator
RB-KAIROS+ robot (Robotnik): A GRU-based one and a bio-
inspired alternative called WorkMATe which enabled the robot to
adapt its navigation strategy depending on the presence of human
workers. To evaluate the two working memory configurations
against a non adaptive behaviour, we tested a possible co-
working scenario between two ostensible workers and the RB-
KAIROS+ robot navigating in two mocked industrial set-ups.
The application of behavioral adaptation through a working
memory component was highly beneficial as it led to reduced
energy consumption and, more importantly, to fewer acceleration
anomalies in robot navigation than the non adaptive one. This
suggests that a robot’s adaptive navigation through working
memory can increase workers’ safety and improve the efficiency
of the human-robot system as a whole in industrial applications
Files
Restricted
The record is publicly accessible, but files are restricted to users with access.
Request access
If you would like to request access to these files, please fill out the form below.
You need to satisfy these conditions in order for this request to be accepted:
©2023 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including
reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or
reuse of any copyrighted component of this work in other works.
You are currently not logged in. Do you have an account? Log in here