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With the increasing demand of humans and robots collaborating in a confined workspace, it is essential that robots can react instantaneously to unforeseen events while respecting comfort of human co-workers. As the human pays especial attention to the end-effector movement rather than individual joints in such tasks, we argue that it is necessary to limit exactly these end-effector dynamics directly...
Humans are error-prone in the presence of multiple similar tasks. While Human-Robot Collaboration (HRC) brings the advantage of combining the superiority of both humans and robots in their respective talents, it also requires the robot to communicate the task goal clearly to the human collaborator. We formalize such problems in interactive assembly tasks with hidden goal Markov decision processes...
Robots working with humans are expected to be more adaptive to failures of tasks and to have easier communication channels with those co-working humans. With this goal in mind, this paper presents a motion recognition framework for robots including a success/failure classification of tasks based on natural language representation. The proposed method consists of three parts: motion language model,...
With the integration of Human-Robot Collaboration (HRC) in industrial assembly scenarios, robot systems face numerous challenges. In contrast to classic robot systems which follow a pre-programmed and fixed sequence of actions, an interaction scenario with humans in the loop requires mutual adaptation. In this paper a framework based on game theory is presented that allows robots to choose appropriate...
Within Human-Robot Collaboration (HRC) safety is one key-issue that has to be guaranteed at any time during joint collaboration. Collisions in a shared workspace of a Human-Robot-Team (HRT) must be prevented. In addition, the comfort of the collaboration behavior should be provided. Facing these challenges, a robot has to be able to detect critical states at an early stage on the one hand and should...
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