Integration of work sequence and embodied interaction for collaborative work based human-robot interaction

In order to develop intelligent robots that are able to cooperate well with human in a collaborative work, this work aims to integrate work sequence and embodied interaction capabilities into an integrated intelligence system for collaborative robot development. A task modeling approach is proposed to build a hierarchical task model of the entire work sequence to generate state transition table, and grounding with the actual condition (state) of the objects and the action (transition) of work in the embodied dimension. The system is implemented in a simulation environment with human interaction to materialize human-robot collaboration by robot work support in work sequence (what, when and how), assist on parallel task, and error correction.