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Submitted on 22 Aug 2018
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Intelligent Human-Robot Collaboration with Prediction and Anticipation
Serena Ivaldi
To cite this version:
Serena Ivaldi. Intelligent Human-Robot Collaboration with Prediction and Anticipation. ERCIM
News, ERCIM, 2018. �hal-01859614�
Intelligent Human-Robot Collaboration with Prediction and Anticipation
Serena Ivaldi ∗ †
Collaborative robots need to safely control their physical interaction with humans. However, in order to provide physical assistance to humans, robots need to be able to predict their intent, future behaviour and movements. We are currently tackling these questions in our research within the European H2020 Project AnDy
1.
Collaborative robotics technologies are rapidly spreading in manufacturing and industry, in the lead platforms of cobots and exoskeletons. The former are the descendants of industrial manipulators, capable of safely interacting and co-existing (i.e., sharing the same workspace) with operators, while the latter are wearable robotics devices that assist the operators in their motions.
The introduction of these two technologies has changed the way operators may perceive interaction with robots at work: robots are no longer confined to their own areas; instead, they are sharing space with humans, modifying workstations, and influencing gestures at work (see Figure 1).
The major concern when introducing these technologies was to ensure safety during physical interaction. Most of the research in co-botics over recent decades has focused on collision avoidance, human-aware planning and re-planning of robot motions, control of contact, safe control of physical collaboration and so on. This research has been funded by the European Commission in several projects, such as SAPHARI
2and CODYCO
3, and contributed to the formu- lation of ISO norms on safety for collaborative robots, such as the ISO/TS 15066:2016
4.
With the introduction of the new collaborative technologies at work, how- ever, it has become clear that the problem of collaboration cannot be merely reduced to the problem of controlling the physical interaction between the hu- man and the robot. The transition from robots to cobots, motivated largely by economic factors (increased productivity and flexibility) and health factors (reduction of physical stress and musculo-skeletal diseases), raises several issues
∗
This work was funded by the European Project An.Dy (no. 731540 H2020-ICT-2016-1).
†
Inria, CNRS, University of Lorraine, Loria, France. Mail: serena.ivaldi@inria.fr Web- site: https://members.loria.fr/SIvaldi/
1
www.andy-project.eu
2
www.saphari.eu
3
www.codyco.eu
4