During the last decade, industrial collaborative robots have entered assembly cells supporting human workers in repetitive and physical demanding operations. Such human-robot collaboration (HRC) scenarios entail many open issues. The deployment of highly flexible and adaptive plan-based controllers is capable of preserving productivity while enforcing human safety is then a crucial requirement. The deployment of plan-based solutions entails knowledge engineers and roboticists interactions in order to design well-suited models of robotic cells considering both operational and safety requirements. So, the ability of supporting knowledge engineering for integrating high level and low level control (also from non-specialist users) can facilitate deployment of effective and safe solutions in different industrial settings. In this chapter, we will provide an overview of some recent results concerning the development of a task planning and execution technology and its integration with a state of the art Knowledge Engineering environment to deploy safe and effective solutions in realistic manufacturing HRC scenarios. We will briefly present and discuss a HRC use case to demonstrate the effectiveness of such integration discussing its advantages.
Orlandini, A., Cialdea Mayer, M., Umbrico, A., Cesta, A. (2020). Design of Timeline-Based Planning Systems for Safe Human-Robot Collaboration. In D.K. Mauro Vallati (a cura di), Knowledge Engineering Tools and Techniques for AI Planning (pp. 231-248). Springer [10.1007/978-3-030-38561-3_12].
Design of Timeline-Based Planning Systems for Safe Human-Robot Collaboration
Orlandini, Andrea
;Cialdea Mayer, Marta;Umbrico, Alessandro;
2020
Abstract
During the last decade, industrial collaborative robots have entered assembly cells supporting human workers in repetitive and physical demanding operations. Such human-robot collaboration (HRC) scenarios entail many open issues. The deployment of highly flexible and adaptive plan-based controllers is capable of preserving productivity while enforcing human safety is then a crucial requirement. The deployment of plan-based solutions entails knowledge engineers and roboticists interactions in order to design well-suited models of robotic cells considering both operational and safety requirements. So, the ability of supporting knowledge engineering for integrating high level and low level control (also from non-specialist users) can facilitate deployment of effective and safe solutions in different industrial settings. In this chapter, we will provide an overview of some recent results concerning the development of a task planning and execution technology and its integration with a state of the art Knowledge Engineering environment to deploy safe and effective solutions in realistic manufacturing HRC scenarios. We will briefly present and discuss a HRC use case to demonstrate the effectiveness of such integration discussing its advantages.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
