Deployment and Evaluation of a Flexible Human-Robot Collaboration Model Based on AND/OR Graphs in a Manufacturing Environment

by   Prajval Kumar Murali, et al.

The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots are an important tangible technology for implementing such a paradigm. A major bottleneck to effectively deploy collaborative robots to manufacturing industries is developing task planning algorithms that enable them to recognize and naturally adapt to varying and even unpredictable human actions while simultaneously ensuring an overall efficiency in terms of production cycle time. In this context, an architecture encompassing task representation, task planning, sensing, and robot control has been designed, developed and evaluated in a real industrial environment. A pick-and-place palletization task, which requires the collaboration between humans and robots, is investigated. The architecture uses AND/OR graphs for representing and reasoning upon human-robot collaboration models online. Furthermore, objective measures of the overall computational performance and subjective measures of naturalness in human-robot collaboration have been evaluated by performing experiments with production-line operators. The results of this user study demonstrate how human-robot collaboration models like the one we propose can leverage the flexibility and the comfort of operators in the workplace. In this regard, an extensive comparison study among recent models has been carried out.


page 1

page 11

page 12

page 13

page 14


Enabling Human-Robot Collaboration via Holistic Human Perception and Partner-Aware Control

As robotic technology advances, the barriers to the coexistence of human...

Towards Better Human Robot Collaboration with Robust Plan Recognition and Trajectory Prediction

Human robot collaboration (HRC) is becoming increasingly important as th...

"Grip-that-there": An Investigation of Explicit and Implicit Task Allocation Techniques for Human-Robot Collaboration

In ad-hoc human-robot collaboration (HRC), humans and robots work on a t...

On the Importance of Environments in Human-Robot Coordination

When studying robots collaborating with humans, much of the focus has be...

A generic ontology and recovery protocols for Human-Robot Collaboration (HRC) systems

Humans are considered as integral components of Human-Robot Collaboratio...

Detecting Human Motion Intention during pHRI Using Artificial Neural Networks Trained by EMG Signals

With the recent advances in cobot (collaborative robot) technology, we c...

Increased Complexity of a Human-Robot Collaborative Task May Increase the Need for a Socially Competent Robot

An important factor in developing control models for human-robot collabo...