Transferring Human Manipulation Knowledge to Industrial Robots Using Reinforcement Learning

Nestor Arana-Arexolaleibo, Nerea Urrestilla Anguiozar, Dimitrios Chrysostomou, Simon Bøgh

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Abstrakt

Nowadays in the context of Industry 4.0, manufacturing companies are faced by increasing global competition and challenges, which requires them to become more flexible and able to adapt fast to rapid market changes. Advanced robot system is an enabler for achieving greater flexibility and adaptability, however, programming such systems also become increasingly more complex. Thus, new methods for programming robot systems and enabling self-learning capabilities to accommodate the natural variation exhibited in real-world tasks are needed. In this paper, we propose a Reinforcement Learning (RL) enabled robot system, which learns task trajectories from human workers. The presented work demonstrates that with minimal human effort, we can transfer manual manipulation tasks in certain domains to a robot system without the requirement for a complicated hardware system model or tedious and complex programming. Furthermore, the robot is able to build upon the learned concepts from the human expert and improve its performance over time. Initially, Q-learning is applied, which has shown very promising results. Preliminary experiments, from a use case in slaughterhouses, demonstrate the viability of the proposed approach. We conclude that the feasibility and applicability of RL for industrial robots and industrial processes, holds and unseen potential, especially for tasks where natural variation is exhibited in either the product or process.
OriginalsprogEngelsk
Titel29th International Conference on Flexible Automation and Intelligent Manufacturing : FAIM 2019
Antal sider8
Vol/bind38
ForlagElsevier
Publikationsdato2019
Sider1508 - 1515
DOI
StatusUdgivet - 2019
Begivenhed29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019) - Limerick, Irland
Varighed: 24 jun. 201928 jun. 2019
https://faim2019.org

Konference

Konference29th International Conference on Flexible Automation and Intelligent Manufacturing (FAIM2019)
LandIrland
ByLimerick
Periode24/06/201928/06/2019
Internetadresse
NavnProcedia Manufacturing
Vol/bind38
ISSN2351-9789

Emneord

  • Kunstig Intelligens
  • Deep Reinforcement Learning
  • Q-Learning
  • Robotics
  • Robot Learning
  • Artificial Intelligence (AI)
  • Maskinlæring

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  • Projekter

    MADE Digital WP5.3 - Designing Self-Configuring and Self-Learning Smart Factories

    Bøgh, S., Chrysostomou, D., Anguiozar, N. U., Andersen, R. S. & Arexolaleiba, N. A.

    01/03/201731/12/2019

    Projekter: ProjektForskning

    Udstyr

    AI Cloud Service

    CLAAUDIA

    Facilitet: Udstyr

  • Citationsformater

    Arana-Arexolaleibo, N., Anguiozar, N. U., Chrysostomou, D., & Bøgh, S. (2019). Transferring Human Manipulation Knowledge to Industrial Robots Using Reinforcement Learning. I 29th International Conference on Flexible Automation and Intelligent Manufacturing: FAIM 2019 (Bind 38, s. 1508 - 1515). Elsevier. Procedia Manufacturing Bind 38 https://doi.org/10.1016/j.promfg.2020.01.136