Planning Ergonomic Sequences of Actions in Human-Robot Interaction

In this paper, we define the problem of human-robot collaboration as a combined task and motion planning problem which is extended to the multi-agent case (human and robot). Our proposed approach allows us to explicitly take into account ergonomic cost, synchrony and concurrency of behavior in an optimization formulation. We show simulated results as well as an experiment with a real robot combined with a user study. Results show that optimizing over a sequence of actions leads to more ergonomic situations.

[1]  Gregory D. Hager,et al.  Sampling-Based Motion and Symbolic Action Planning with geometric and differential constraints , 2010, 2010 IEEE International Conference on Robotics and Automation.

[2]  S Hignett,et al.  Rapid entire body assessment (REBA). , 2000, Applied ergonomics.

[3]  Leslie Pack Kaelbling,et al.  A constraint-based method for solving sequential manipulation planning problems , 2014, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[4]  Manuel Lopes,et al.  Postural optimization for an ergonomic human-robot interaction , 2017, 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[5]  Julie A. Shah,et al.  Decision-making authority, team efficiency and human worker satisfaction in mixed human–robot teams , 2014, Autonomous Robots.

[6]  Marc Toussaint,et al.  Logic-Geometric Programming: An Optimization-Based Approach to Combined Task and Motion Planning , 2015, IJCAI.

[7]  Olessia Ogorodnikova.  Human Weaknesses and strengths in collaboration with robots , 2008 .

[8]  L. Punnett,et al.  Work-related musculoskeletal disorders: the epidemiologic evidence and the debate. , 2004, Journal of electromyography and kinesiology : official journal of the International Society of Electrophysiological Kinesiology.

[9]  Manuel Lopes,et al.  Multi-bound tree search for logic-geometric programming in cooperative manipulation domains , 2017, 2017 IEEE International Conference on Robotics and Automation (ICRA).

[10]  S. Shankar Sastry,et al.  Personalized kinematics for human-robot collaborative manipulation , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[11]  Pieter Abbeel,et al.  Combined task and motion planning through an extensible planner-independent interface layer , 2014, 2014 IEEE International Conference on Robotics and Automation (ICRA).

[12]  Gunther Reinhart,et al.  Approaches of Applying Human-Robot-Interaction-Technologies to Assist Workers with Musculoskeletal Disorders in Production , 2012, ICIRA.

[13]  Manuel Lopes,et al.  Relational activity processes for modeling concurrent cooperation , 2016, 2016 IEEE International Conference on Robotics and Automation (ICRA).

[14]  Helmut Bley,et al.  Appropriate Human Involvement in Assembly and Disassembly , 2004 .

[15]  Rachid Alami,et al.  Planning human-aware motions using a sampling-based costmap planner , 2011, 2011 IEEE International Conference on Robotics and Automation.

[16]  Alexander Verl,et al.  Cooperation of human and machines in assembly lines , 2009 .

[17]  Sotiris Makris,et al.  Human–robot interaction review and challenges on task planning and programming , 2016, Int. J. Comput. Integr. Manuf..

[18]  Svend Erik Mathiassen,et al.  Systematic evaluation of observational methods assessing biomechanical exposures at work. , 2010, Scandinavian journal of work, environment & health.

[19]  Rachid Alami,et al.  A Human-Aware Manipulation Planner , 2012, IEEE Transactions on Robotics.

[20]  Julie A. Shah,et al.  Decision-making authority, team efficiency and human worker satisfaction in mixed human–robot teams , 2015, Auton. Robots.