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Dynamic Human-Aware Task Planner for Human-Robot Collaboration in Industrial Scenario

Gottardi, Alberto and Terreran, Matteo and Frommel, Christoph and Schönheits, Manfred and Castaman, Nicola and Ghidoni, Stefano and Menegatti, Emanuele (2023) Dynamic Human-Aware Task Planner for Human-Robot Collaboration in Industrial Scenario. In: 11th European Conference on Mobile Robots, ECMR 2023. European Conference on Mobile Robots 2023, 4.-7. Sep. 2023, Coimbra, Portugal. ISBN 979-835030704-7. ISSN 2639-7919.

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Abstract

The collaboration between humans and robots in industrial scenarios is one of the key challenges for Industry 4.0. In particular, industrial robots offer accuracy and efficiency, while humans have experience and the capability to manage complex situations that are not replaceable. Combining these features can enhance the industrial process by avoiding the user heavy tasks that a robot can perform and allowing him to dedicate his efforts to tasks where quality and experience make the difference in the final product. However, the collaboration between humans and robots raises several new problems to be addressed like safety, tasks scheduling and operator ergonomics. For example, human presence in the robot workspace introduces various elements of complexity into robot planning due to its dynamism and unpredictability. Planning must take into account how to coordinate the tasks between the robot and the human and be quick in re-planning to respond reactively to the operators trigger. For this purpose, this work proposes a hierarchical Human-Aware Task Planner framework capable of generate a suitable plan to complete the process and manage user interrupts in order to have a constantly updated plan. The method is evaluated in a real industrial scenario and in a specific complex assembly task like the draping of fibre carbon plies.

Item URL in elib:https://elib.dlr.de/200244/
Document Type:Conference or Workshop Item (Speech)
Title:Dynamic Human-Aware Task Planner for Human-Robot Collaboration in Industrial Scenario
Authors:
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Gottardi, AlbertoDepartment of Information Engineering University of PadovaUNSPECIFIEDUNSPECIFIED
Terreran, MatteoDepartment of Information Engineering University of PadovaUNSPECIFIEDUNSPECIFIED
Frommel, ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-3717-1087UNSPECIFIED
Schönheits, ManfredUNSPECIFIEDhttps://orcid.org/0000-0002-5646-2111UNSPECIFIED
Castaman, NicolaUNSPECIFIEDUNSPECIFIEDUNSPECIFIED
Ghidoni, StefanoDepartment of Information Engineering University of PadovaUNSPECIFIEDUNSPECIFIED
Menegatti, EmanueleDepartment of Information Engineering University of PadovaUNSPECIFIEDUNSPECIFIED
Date:2023
Journal or Publication Title:11th European Conference on Mobile Robots, ECMR 2023
Refereed publication:Yes
Open Access:No
Gold Open Access:No
In SCOPUS:Yes
In ISI Web of Science:Yes
ISSN:2639-7919
ISBN:979-835030704-7
Status:Published
Keywords:Human-Aware Task Planner, Human Action Recognition, Human-Robot Collaboration, Dynamic industrial scenario
Event Title:European Conference on Mobile Robots 2023
Event Location:Coimbra, Portugal
Event Type:international Conference
Event Dates:4.-7. Sep. 2023
Organizer:University of Coimbra
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Aeronautics
HGF - Program Themes:Components and Systems
DLR - Research area:Aeronautics
DLR - Program:L CS - Components and Systems
DLR - Research theme (Project):L - Structural Materials and Design
Location: Augsburg
Institutes and Institutions:Institute of Structures and Design > Automation and Production Technology
Deposited By: Frommel, Christoph
Deposited On:01 Dec 2023 09:12
Last Modified:01 Dec 2023 09:12

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