Simulating object handover between collaborative robots

Centre for Robotics and Future Production, Manufacturing Cluster, Council for Scientific and Industrial Research, South Africa

^* Corresponding author: bveden@csir.co.za

Abstract

Collaborative robots are adopted in the drive towards Industry 4.0 to automate manufacturing, while retaining a human workforce. This area of research is known as human-robot collaboration (HRC) and focusses on understanding the interactions between the robot and a human. During HRC the robot is often programmed to perform a predefined task, however when working in a dynamic and unstructured environment this is not achievable. To this end, machine learning is commonly employed to train the collaborative robot to autonomously execute a collaborative task. Most of the current research is concerned with HRC, however, when considering the smart factory of the future investigating an autonomous collaborative task between two robots is pertinent. In this paper deep reinforcement learning (DRL) is considered to teach two collaborative robots to handover an object in a simulated environment. The simulation environment was developed using Pybullet and OpenAI gym. Three DRL algorithms and three different reward functions were investigated. The results clearly indicated that PPO is the best performing DRL algorithm as it provided the highest reward output, which is indicative that the robots were learning how to perform the task, even though they were not successful. A discrete reward function with reward shaping, to incentivise the cobot to perform the desired actions and incremental goals (picking up the object, lifting the object and transferring the object), provided the overall best performance.