A Hierarchical Architecture for Human–Robot Cooperation Processes

In this article, we propose FlexHRC+, a hierarchical human-robot cooperation architecture designed to provide collaborative robots with an extended degree of autonomy when supporting human operators in high-variability shop-floor tasks. The encompasses three levels, namely for perception, representation, and action. Building up on previous work, here focus in-the-loop decision-making process the operations coping variability actions carried out by operators, representation level, integrating and/or graph whose online behavior is formally specified using first-order logic. accompanied experiments including furniture assembly object positioning