On human-aware task and motion planning abilities for a teammate robot

Rachid Alami (1) , Mamoun Gharbi (1) , Benjamin Vadant (1) , Raphaël Lallement (1) , Adolfo Suarez (2)

1 LAAS - Laboratoire d'analyse et d'architecture des systèmes
2 Airbus [France]

—Human-robot collaboration requires to equip the robot with explicit reasoning on the human and on its own capabilities to achieve its tasks in a collaborative way with a human partner. This paper presents and discusses three human-aware planners which can provide to a teammate robot the ability to asynthesize pertinent and acceptable behaviour in an industrial context. The illustrative context is inspired by a realistic project to involve collaborative mobile manipulators in the assembly of some components of the Ariane launcher.

Domaines: Automatique / Robotique; Sciences de l'ingénieur [physics]

Rachid Alami, Mamoun Gharbi, Benjamin Vadant, Raphaël Lallement, Adolfo Suarez. On human-aware task and motion planning abilities for a teammate robot. Human-Robot Collaboration for Industrial Manufacturing Workshop, RSS 2014, Jul 2014, UC Berkeley, United States. ⟨hal-01110191⟩