CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision

Paxton, Chris; Hundt, Andrew; Jonathan, Felix; Guerin, Kelleher; Hager, Gregory D.

doi:10.48550/arxiv.1611.06145

Cited by 2 publications

(3 citation statements)

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“…Depending on the policy of the control nodes, different paths can be taken in the BT depending on the situation [55]. Examples where BTs are already being used in Human Robot Collaboration in production research include the CoSTAR (Collaborative System for Task Automation and Recognition) framework [56], the SARAFun project [57], and the Intera5 platform [58].…”

Section: Behavior Treesmentioning

confidence: 99%

Context-Aware Robotic Assistive System: Robotic Pointing Gesture-Based Assistance for People with Disabilities in Sheltered Workshops

Drolshagen,

Pfingsthorn,

Hein

2023

Robotics

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People with disabilities are severely underrepresented in the open labor market. Yet, pursuing a job has a positive impact in many aspects of life. This paper presents a possible approach to improve inclusion by including a robotic manipulator into context-aware Assistive Systems. This expands the assistance possibilities tremendously by adding gesture-based feedback and aid. The system presented is based on the intelligent control system of behavior trees, which—together with a depth camera, specifically designed policies, and a collaborative industrial robotic manipulator—can assist workers with disabilities in the workplace. A developed assistance node generates personalized action sequences. These include different robotic pointing gestures, from simple waving, to precisely indicating the target position of the workpiece during assembly tasks. This paper describes the design challenges and technical implementation of the first Context-Aware Robotic Assistive System. Moreover, an in-field user study in a Sheltered Workshop was performed to verify the concept and developed algorithms. In the assembly task under consideration, almost three times as many parts could be assembled with the developed system than with the baseline condition. In addition, the reactions and statements of the participants showed that the robot was considered and accepted as a tutor.

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Section: Behavior Treesmentioning

confidence: 99%

Context-Aware Robotic Assistive System: Robotic Pointing Gesture-Based Assistance for People with Disabilities in Sheltered Workshops

Drolshagen,

Pfingsthorn,

Hein

2023

Robotics

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“…BTs have also been used to enable non-experts to do robot programming of pick and place operations, due to their "modular, adaptable representation of a robotic task" [27] and allowed "end-users to visually create programs with the same amount of complexity and power as traditionally-written programs" [56]. Furthermore, BTs have been proposed as a key component in brain surgery robotics due to their "flexibility, reusability, and simple syntax" [30].…”

Section: A Short History and Motivation Of Btsmentioning

confidence: 99%

“…Several research projects explore this research direction. CoSTAR [56] is a project that aims at developing a software framework that contains tools for industrial applications that involve human cooperation. The use cases include non trained operators composing task plans, and training robots to perform complex behaviors.…”

Section: Bts In Industrial Roboticsmentioning

confidence: 99%

Behavior Trees in Robotics and AI: An Introduction

Colledanchise,

Ögren

2017

Preprint

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Quotes on Behavior Trees"I'm often asked why I chose to build the SDK with behavior trees instead of finite state machines. The answer is that behavior trees are a far more expressive tool to model behavior and control flow of autonomous agents." 1 Jonathan Ross Head of Jibo SDK "There are a lot of different ways to create AI's, and I feel like I've tried pretty much all of them at one point or another, but ever since I started using behavior trees, I wouldn't want to do it any other way. I wish I could go back in time with this information and do some things differently." 2 Mike Weldon Disney, Pixar "[...]. Sure you could build the very same behaviors with a finite state machine (FSM). But anyone who has worked with this kind of technology in industry knows how fragile such logic gets as it grows. A finely tuned hierarchical FSM before a game ships is often a temperamental work of art not to be messed with!" 3 Alex J. Champandard Editor in Chief & Founder AiGameDev.com, Senior AI Programmer Rockstar Games "Behavior trees offer a good balance of supporting goal-oriented behaviors and reactivity." 4 Daniel Broder Unreal Engine developer "The main advantage [of Behavior Trees] is that individual behaviors can easily be reused in the context of another higher-level behavior, without needing to specify how they relate to subsequent behaviors", [2].

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CoSTAR: Instructing Collaborative Robots with Behavior Trees and Vision

Cited by 2 publications

References 0 publications

Context-Aware Robotic Assistive System: Robotic Pointing Gesture-Based Assistance for People with Disabilities in Sheltered Workshops

Context-Aware Robotic Assistive System: Robotic Pointing Gesture-Based Assistance for People with Disabilities in Sheltered Workshops

Behavior Trees in Robotics and AI: An Introduction

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