We present and discuss a human-robot collaboration system suitable for supervising the execution of structured manipulation tasks in industrial assembly scenarios. As a case study, we consider the application domain proposed in the context of the project (PON R& I 2014-2020) ICOSAF (Integrated collaborative systems for Smart Factory) in which a human operator physically interacts with a collaborative robot (Cobot) to perform multiple item insertion tasks in a shared workspace. The proposed system combines hierarchical task orchestration and human intention recognition during human-robot interaction through hand-guidance. We provide an overview of the system discussing an initial experimental evaluation.
Supervised hand-guidance during human robot collaborative task execution: A case study / Cacace, J.; Caccavale, R.; Finzi, A.. - 2806:(2021), pp. 1-6. (Intervento presentato al convegno 7th Italian Workshop on Artificial Intelligence and Robotics, AIRO 2020 nel 2020).
Supervised hand-guidance during human robot collaborative task execution: A case study
Cacace J.
;Caccavale R.
;Finzi A.
2021
Abstract
We present and discuss a human-robot collaboration system suitable for supervising the execution of structured manipulation tasks in industrial assembly scenarios. As a case study, we consider the application domain proposed in the context of the project (PON R& I 2014-2020) ICOSAF (Integrated collaborative systems for Smart Factory) in which a human operator physically interacts with a collaborative robot (Cobot) to perform multiple item insertion tasks in a shared workspace. The proposed system combines hierarchical task orchestration and human intention recognition during human-robot interaction through hand-guidance. We provide an overview of the system discussing an initial experimental evaluation.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
