TY - UNPB
T1 - Ergonomic Collaboration between Humans and Robots
T2 - An Energy-Aware Signal Temporal Logic Perspective
AU - Silano, Giuseppe
AU - Afifi, Amr
AU - Saska, Martin
AU - Franchi, Antonio
N1 - 2 pages, 2 figures, Accepted for presentation to the "Energy Efficient Aerial Robotic Systems" Workshop at ICRA'23, ExCeL, London, UK
PY - 2023/6/4
Y1 - 2023/6/4
N2 - This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as Signal Temporal Logic (STL) specifications to automatically synthesize task assignments and trajectories. The focus is on a specific task where a Multi-Rotor Aerial Vehicle (MRAV) performs object handovers in a power line setting. The motion planner takes into account constraints such as payload capacity and refilling, while ensuring that the generated trajectories are feasible. The approach also allows users to specify robot behaviors that prioritize human comfort, including ergonomics and user preferences. The method is validated through numerical analyses in MATLAB and realistic Gazebo simulations in a mock-up scenario.
AB - This paper presents a method for designing energy-aware collaboration tasks between humans and robots, and generating corresponding trajectories to carry out those tasks. The method involves using high-level specifications expressed as Signal Temporal Logic (STL) specifications to automatically synthesize task assignments and trajectories. The focus is on a specific task where a Multi-Rotor Aerial Vehicle (MRAV) performs object handovers in a power line setting. The motion planner takes into account constraints such as payload capacity and refilling, while ensuring that the generated trajectories are feasible. The approach also allows users to specify robot behaviors that prioritize human comfort, including ergonomics and user preferences. The method is validated through numerical analyses in MATLAB and realistic Gazebo simulations in a mock-up scenario.
KW - cs.RO
U2 - 10.48550/arXiv.2306.02454
DO - 10.48550/arXiv.2306.02454
M3 - Preprint
BT - Ergonomic Collaboration between Humans and Robots
PB - ArXiv.org
ER -