MASD: A Multimodal Assembly Skill Decoding System for Robot Programming by Demonstration

摘要

Programming by demonstration (PBD) transforms the robot programming from the code level to automated interface between robot and human, promoting the flexibility of robotized automation. In this paper, we focus on programming the industrial robot for assembly tasks by parsing the human demonstration into a series of assembly skills and compiling the skill to the robot executables. To achieve this goal, an identification system using multimodal information to recognize the assembly skill, called MASD, is proposed including: 1) an initial learning stage using a hierarchical model to recognize the action by considering the features from action-object effect, gesture, and trajectory and 2) a retrospective thinking stage using a segmentation method to cut the continuous demonstrations into multiple assembly skills optimally. Using MASD, the demonstration of assembly tasks can be explained with high accuracy in real time, driving a hypothesis that a PBD system on the top of MASD can be extended to more realistic assembly tasks beyond pure positional moving and picking. In experiments, the skill identification module is used to recognize the five kinds of assembly skills in demonstrations of both single and multiple assembly skills, and outperforms the comparative action identification methods. Besides integrated with the MASD, the PBD system can generate the program based on the demonstration and successfully enable an ABB industrial robotic arm simulator to assemble a flashlight and a switch, verifying the initial hypothesis. Note to Practitioners-In the conventional robotized automation, the key role of the robot mainly owes to its capacity for repeating a wide variety of tasks with high speed and accuracy in long term, with a cost of days to months of programming for deployment. On the other hand, the new trend of customization brings the new characteristics: production in short cycle and small volume. This irreversible momentum urges the robot to switch from task to task efficiently. The biggest bottleneck here is the tedious programming, which also has high prerequisites for most practitioners in manufacturing. This situation motivates the development of a PBD system that can understand the assembly skills performed by the human experts in the demonstration and accordingly generate the program for robot's execution of the taught task. In this paper, we present a skill decoding system to parse the observational raw demonstration into symbolic sequences, which is the crucial bridge to enable the automatic programming. The system achieves high performance in recognition and is tailored for the PBD in assembly tasks by considering both advantages and disadvantages in the background of assembly, such as controllable environment and limited computational resources. It is particularly useful for assembly tasks with modularized actions based on a set of standard parts. At the perspective of industrial application, the PBD upon the proposed system is a promising solution to improve the flexibility of manufacture, which is expected to be true in midterm but an important step toward this goal.