Progress and Prospects of the Human-Robot Collaboration

Arash Ajoudani (1) , Andrea Maria Zanchettin (2) , Serena Ivaldi (3) , Alin Albu-Schäffer (4) , Kazuhiro Kosuge (5) , Oussama Khatib (6)

1 IIT - Istituto Italiano di Tecnologia
2 POLIMI - Politecnico di Milano [Milan]
3 LARSEN - Lifelong Autonomy and interaction skills for Robots in a Sensing ENvironment
4 DLR - German Aerospace Center
5 Tohoku University [Sendai]
6 SAIL - Stanford Artificial Intelligence Laboratory [Stanford]

Recent technological advances in hardware designof the robotic platforms enabled the implementationof various control modalities for improved interactions withhumans and unstructured environments. An important applicationarea for the integration of robots with such advancedinteraction capabilities is human-robot collaboration. Thisaspect represents high socio-economic impacts and maintainsthe sense of purpose of the involved people, as the robotsdo not completely replace the humans from the workprocess. The research community’s recent surge of interestin this area has been devoted to the implementation of variousmethodologies to achieve intuitive and seamless humanrobot-environment interactions by incorporating the collaborativepartners’ superior capabilities, e.g. human’s cognitiveand robot’s physical power generation capacity. In fact,the main purpose of this paper is to review the state-of-thearton intermediate human-robot interfaces (bi-directional),robot control modalities, system stability, benchmarking andrelevant use cases, and to extend views on the required futuredevelopments in the realm of human-robot collaboration.

Domaines: Robotique [cs.RO]

Arash Ajoudani, Andrea Maria Zanchettin, Serena Ivaldi, Alin Albu-Schäffer, Kazuhiro Kosuge, et al.. Progress and Prospects of the Human-Robot Collaboration. Autonomous Robots, 2017, pp.1-17. ⟨10.1007/s10514-017-9677-2⟩. ⟨hal-01643655⟩