TY - UNPB
T1 - A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
AU - Silano, Giuseppe
AU - Afifi, Amr
AU - Saska, Martin
AU - Franchi, Antonio
N1 - 8 pages, 7 figures, accepted for presentation to the 2023 International Conference on Unmanned Aircraft Systems (ICUAS) at Lazarski University, Warsaw, Poland
PY - 2023/6/16
Y1 - 2023/6/16
N2 - This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.
AB - This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.
KW - cs.RO
U2 - 10.48550/arXiv.2306.09781
DO - 10.48550/arXiv.2306.09781
M3 - Preprint
BT - A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
PB - ArXiv.org
ER -