VRoboCoop – Trajectory planning to achieve reliable and trustworthy human-robot collaboration

Research output: Chapter in Book/Report/Conference proceedingsConference contributionpeer-review

1 Citation (Scopus)

Abstract

The collaboration between humans and robots offers opportunities that are not achievable separately. However, a strategy for collaboration is required, as they differ in their behavior and perception. This work-in-progress paper outlines future research activities in this field, focusing on the integration of collision avoidance into robot movements. Therefore, trajectory planning is formulated as an optimization problem, which considers the human being but also finds the optimal trajectory according to a certain criterion. This reduces the cycle time or the energy required to drive the robot. The description as a multibody system enables a digital twin allowing planning in advance, but also the possibility of real-time control. This creates the basis for trust in the collaboration.
Original languageEnglish (American)
Title of host publication2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation, ETFA 2024
EditorsTullio Facchinetti, Angelo Cenedese, Lucia Lo Bello, Stefano Vitturi, Thilo Sauter, Federico Tramarin
PublisherIEEE
Number of pages4
ISBN (Electronic)9798350361230
DOIs
Publication statusPublished - 2024
Event2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA) - University of Padua, Padua, Italy
Duration: 10 Sept 202413 Sept 2024
https://2024.ieee-etfa.org/

Publication series

NameIEEE International Conference on Emerging Technologies and Factory Automation, ETFA
ISSN (Print)1946-0740
ISSN (Electronic)1946-0759

Conference

Conference2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA)
Abbreviated titleETFA
Country/TerritoryItaly
CityPadua
Period10.09.202413.09.2024
Internet address

Keywords

  • Human-robot collaboration
  • Trajectory Planning
  • Adjoint method
  • Trajectory planning

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