Planning Ergonomic Sequences of Actions in Human-Robot Interaction

Baptiste Busch; Marc Toussaint; Manuel Lopes

ICRA 2018poster61 citations

Planning Ergonomic Sequences of Actions in Human-Robot Interaction

Baptiste Busch, Marc Toussaint, Manuel Lopes

Abstract

In this paper, we define the problem of human-robot collaboration as a combined task and motion planning problem which is extended to the multi-agent case (human and robot). Our proposed approach allows us to explicitly take into account ergonomic cost, synchrony and concurrency of behavior in an optimization formulation. We show simulated results as well as an experiment with a real robot combined with a user study. Results show that optimizing over a sequence of actions leads to more ergonomic situations.

BibTeX

@inproceedings{icra2018_planningergonomi,
  title = {Planning Ergonomic Sequences of Actions in Human-Robot Interaction},
  author = {Baptiste Busch and Marc Toussaint and Manuel Lopes},
  booktitle = {ICRA 2018},
  year = {2018}
}