Deliberative robotics – a novel interactive control framework enhancing human-robot collaboration. Issue 1 (2022)

• Record Type: Journal Article
• Authors: Valente, A.; Pavesi, G.; Zamboni, M.; Carpanzano, E.
• Is Part Of: CIRP annals. Volume 71:Issue 1(2022)
• Page Start: 21
• Page End: 24
• Publication Date: 2022
• Subjects: Deliberative control -- Human-robot collaboration -- Human safety; Production engineering -- Research -- Periodicals; 670.5
• DOI: 10.1016/j.cirp.2022.03.045
• Languages: English
• ISSNs: 0007-8506

Abstract

Abstract: Deliberative robots adapt their behavior from cobot to industrial arms as a result of the interaction dynamic with the human teammates and production context. This powerful capability is instrumental to boost robots' adoption within typically manual manufacturing contexts, by enhancing productivity while preserving human safety and job quality. The deliberative feature relies upon a modular planning and control infrastructure linked to a behavioral tree framework determining the robot response to the operating context and the human physical and cognitive status. The benefits of the approach have been validated through an industrial use case demanding enhanced human-robot collaboration in the electronics assembly value chain.