Sharework project research and developments have been presented during a session held within the IEEE International virtual Conference on Robot & Human Interactive Communication (RO-MAN 2020), celebrated last 31st August – 4th September.
Project partners, Andrea Orlandini and Nicola Pedrocchi from the National Research Council of Italy (CNR) and Mohamad Bdiwi from the Fraunhofer Institute for Machine Tools and Forming Industry (IWU), chaired the session “Safe and Acceptable Human-Robot Collaboration”, which included a presentation of the research results obtained under the framework of Sharework project on task and motion planning in human-robot collaboration.
During the session, partners from CNR presented the paper “A Layered Control Approach to Human-Aware Task and Motion Planning for Human Robot Collaboration”, based on a controlled-based approach for task and motion planning in human-robot collaboration.
The solution, which will be integrated in Sharework project software for a more efficient and safe collaborative robotics, is based on two layers with a different level of abstraction: the task planning layer considers high-level operations without taking into account their motion properties, while the action planning layer optimises the execution of high-level operations based on current human state and geometric reasoning. In this hierarchical framework, the bottom layer gives feedback to top layer about the feasibility of each task, and the top layer uses this feedback to (re)optimize the process plan.
The International Conference on Robot & Human Interactive Communication is a leading forum which presents and discuss the state-of-the-art innovative results, the latest developments and the future perspectives and challenges related to robot and human interactive communication. This conference offers to the participants from academia and industry sector an important variety of presentations, workshops, tutorials and interactive sessions focused on Human-Robot Collaboration.