Prototyping proactive and adaptive techniques for human-robot collaboration in manufacturing using virtual reality

Matsas, Elias; Vosniakos, George–Christopher; Batras, Dimitris

doi:10.1016/j.rcim.2017.09.005

Cited by 95 publications

(39 citation statements)

References 13 publications

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“…The collaborative operation is defined as a state in which purposely designed robots work in direct cooperation with a human within a defined workspace [12]. Based on ISO/TS 10566:2016 the collaborative workspace was defined as the space within the operating space where the robot system (including the workpiece) and human can perform tasks concurrently during production operation [13].…”

Section: A Human-robot Collaboration (Hrc)mentioning

confidence: 99%

“…ISO 10218/2011 states that HRC is allowed, if one of the following conditions is satisfied: (a) Velocity of the tool center point (TCP) not exceeding 0.25 m/s (b) Maximum dynamic power not exceeding 80 W (c) Maximum static force not exceeding 150 N [14]. These conditions may be challenged because they do not take into account the size and shape of the robot, the distance between human and robot and the control strategies [12,15].…”

Section: A Human-robot Collaboration (Hrc)mentioning

confidence: 99%

“…Thirdly, accessibility of commercially available robot hardware that may allow such experimentation, e.g. robots with flexible joints and smart controllers, is still restricted; moreover, such hardware is certainly not open enough to accommodate the degree of experimentation that a virtual robot would allow [12].…”

Section: Virtual Reality (Vr) Simulationsmentioning

confidence: 99%

See 2 more Smart Citations

Architecture for Safe Human-Robot Collaboration: Multi-Modal Communication in Virtual Reality for Efficient Task Execution

Shu

Sziebig

Pieters

2019

2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)

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Task-sharing and Human-Robot Collaboration has gained increased attention with the widespread commissioning and usage of collaborative robots. However, recent studies show that the fenceless collaborative robots are not as harmless as they look like. In order to study Human-Robot Interaction scenarios, in a safe manner, we propose to execute the scenario in Virtual Reality simulation and afterwards implement it in real robotic applications (supervised from VR). In addition, this simulated world allows ad-hoc modifications and easy prototyping of different multi-modal communication forms. In this paper we propose an architecture for safe human-robot collaboration and describe a use-case: task of nut screwing, which is executed by the human and the robot together. The nut is hold by the human and the screw is screwed into the nut by the robot (as this part is the repetitive part of the task). The task can be executed in the VR simulation with different input and feedback channels (multi-modal) in order to identify the most efficient communication way between the human and the robot. The different input and output channels are presented in detail.

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Section: A Human-robot Collaboration (Hrc)mentioning

confidence: 99%

Section: A Human-robot Collaboration (Hrc)mentioning

confidence: 99%

See 1 more Smart Citation

Architecture for Safe Human-Robot Collaboration: Multi-Modal Communication in Virtual Reality for Efficient Task Execution

Shu

Sziebig

Pieters

2019

2019 IEEE 28th International Symposium on Industrial Electronics (ISIE)

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“…Given the described potential, in the present paper we will leverage these systems for providing human intention cues and construct realistic experimental scenarios. For example, AR can be used to track worker motion inside the warehouse as well as display valuable information, e.g, navigate the worker to a specific product that needs to be picked, or assist in repairing a broken robot, while VR can be used to construct elaborate virtual warehouses with realistic simulations of worker interaction [14].…”

Section: Introductionmentioning

confidence: 99%

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

Petković

Puljiz

Marković

et al. 2019

Robotics and Computer-Integrated Manufacturing

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With the substantial growth of logistics businesses the need for larger warehouses and their automation arises, thus using robots as assistants to human workers is becoming a priority. In order to operate efficiently and safely, robot assistants or the supervising system should recognize human intentions in real-time. Theory of mind (ToM) is an intuitive human conception of other humans' mental state, i.e., beliefs and desires, and how they cause behavior. In this paper we propose a ToM based human intention estimation algorithm for flexible robotized warehouses. We observe human's, i.e., worker's motion and validate it with respect to the goal locations using generalized Voronoi diagram based path planning. These observations are then processed by the proposed hidden Markov model framework which estimates worker intentions in an online manner, capable of handling changing environments. To test the proposed intention estimation we ran experiments in a real-world laboratory warehouse with a worker wearing Microsoft Hololens augmented reality glasses. Furthermore, in order to demonstrate the scalability of the approach to larger warehouses, we propose to use virtual reality digital warehouse twins in order to realistically simulate worker behavior. We conducted intention estimation experiments in the larger warehouse digital twin with up to 24 running robots. We demonstrate that the proposed framework estimates warehouse worker intentions precisely and in the end we discuss the experimental results.

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“…It is also possible to use VR in programming industrial robots [5]. One option is to use and test collaboration between an operator and a collaborative robot in a virtual environment [6]. VR is used extensively for training in moving in a dangerous environment [7] and testing strategies for evacuating people and escaping from dangerous places [8].…”

Section: Introductionmentioning

confidence: 99%

A case study of robotic simulations using virtual commissioning supported by the use of virtual reality

et al. 2019

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Virtual Commissioning (VC) is a method and tool for verifying and testing the PLC control program on a virtual digital model of the manufacturing system. It allows to visualize and test the control system before the real commissioning of the production systems. The aim of the research is to implement virtual reality (VR) into the VC method and to verify the mutual interaction of signals between the simulation in VR environment, the digital model of the production system and the control system. The introduction of VR in VC increases the concept by adding more realistic visualization and tracking, which extends its validation capabilities. The changes made in VR virtual environment are transferred to the simulation model and can be validated in a real production system. The real production robotic system transformed into a virtual form will be a case study with its verification. Also will be tested security protocols and proven human interaction with the system to control the system through the virtual HMI (virtual user interface) using VR.

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Prototyping proactive and adaptive techniques for human-robot collaboration in manufacturing using virtual reality

Cited by 95 publications

References 13 publications

Architecture for Safe Human-Robot Collaboration: Multi-Modal Communication in Virtual Reality for Efficient Task Execution

Architecture for Safe Human-Robot Collaboration: Multi-Modal Communication in Virtual Reality for Efficient Task Execution

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses

A case study of robotic simulations using virtual commissioning supported by the use of virtual reality

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