8 accepted papers
Prediction of the human behaviour is essential for allowing an efficient human-robot collaboration. This was confirmed recently showing how scheduling approaches can significantly increase the productivity of a robotic cell by planning the robotic actions in a way as much as possible compliant with…
Letting humans and robots share a common space for collaboration is considered a consolidated practice. The trajectories followed by the robot must be safe for the human mate, especially when the robot holds dangerous tools or parts. At the same time, the productivity must be preserved, without impo…
Rapidly Random exploring Trees are popular algorithms in the field of motion planning. A feasible path connecting two different poses is found by incrementally building a tree data structure. They are powerful and flexible, but also computationally intense, requiring thousands of iterations before t…
The coexistence of humans and robots in the future production plants is one of the pillars of Industry 4.0. Humans and robots will collaborate to accomplish common tasks in order to mutually compensate their deficiencies. In recent years, many efforts have been spent to develop safe motion planning…
Collaborative robotics over the last few years has gained increasing interest in the industrial scenario. Co-bots can be equipped with vision sensors and cognitive software layers, allowing the robot to figure out human intentions. To make this level of perception possible, human pose estimation alg…
In industrial scenarios, requiring human-robot collaboration, the understanding between the human operator and his/her robot coworker is paramount. On the one side, the robot has to detect human intentions, and on the other side, the human needs to be aware of what is happening during the collaborat
Handling liquids with spilling avoidance is a topic of interest for a broad range of fields, both in industry and in service robotic applications. In this paper we present a new control architecture for motion planning of industrial robots, able to tackle the problem of liquid transfer with sloshing…
This paper addresses time-optimal path-constrained trajectory planning. Given a geometric path for a manipulator, this paper focuses on the selection of the time law along the path. This law minimizes the time required to complete the path and at the same time is consistent with constraints, both at…