An Accurate Prediction Method of Human Assembly Motion for Human–Robot Collaboration

摘要

In the process of human–robot collaborative assembly, robots need to recognize and predict human behaviors accurately, and then perform autonomous control and work route planning in real-time. To support the judgment of human intervention behaviors and meet the need of real-time human–robot collaboration, the Fast Spatial–Temporal Transformer Network (FST-Trans), an accurate prediction method of human assembly actions, is proposed. We tried to maximize the symmetry between the prediction results and the actual action while meeting the real-time requirement. With concise and efficient structural design, FST-Trans can learn about the spatial–temporal interactions of human joints during assembly in the same latent space and capture more complex motion dynamics. Considering the inconsistent assembly rates of different individuals, the network is forced to learn more motion variations by introducing velocity–acceleration loss, realizing accurate prediction of assembly actions. An assembly dataset was collected and constructed for detailed comparative experiments and ablation studies, and the experimental results demonstrate the effectiveness of the proposed method.