Recent technological advances in hardware design of the robotic platforms enabled the implementation of various control modalities for improved interactions with humans and unstructured environments. An important application area for the integration of robots with such advanced interaction capabilities is human-robot collaboration. This aspect represents high socio-economic impacts and maintains the sense of purpose of the involved people, as the robots do not completely replace the humans from the work process. The research community's recent surge of interest in this area has been devoted to the implementation of various methodologies to achieve intuitive and seamless humanrobot-environment interactions by incorporating the collaborative partners' superior capabilities, e.g. human's cognitive and robot's physical power generation capacity. In fact, the main purpose of this paper is to review the state-of-theart on intermediate human-robot interfaces (bi-directional), robot control modalities, system stability, benchmarking and relevant use cases, and to extend views on the required future developments in the realm of human-robot collaboration.Arash Ajoudani is with HRI
Twenty years ago, the field of Robotics was defined and galvanized by the creation of an IEEE Journal devoted to the topic. We now have the opportunity to do the same for the field of Automation. The IEEE voted in February 2003 to bifurcate the IEEE Transactions on Robotics and Automation, the top-cited archival publication on robotics. The renamed Transactions on Robotics will gain a sibling: the Transactions on Automation Science and Engineering.T-ASE will publish foundational research on Automation: scientific methods and technologies that improve efficiency, productivity, quality, and reliability, specifically for methods, machines, and systems operating in structured environments over long periods, and the explicit structuring of environments. Its coverage will go beyond Automation's roots in mass production and include many new applications areas, such as Biotechnology, pharmaceutical, and health care; Home, service, and retail; Construction, transportation, and security; Manufacturing, maintenance, and supply chains; and Food handling and processing. Research includes topics related to robots and intelligent machines/systems in structured environments and the explicit structuring of environments, and topics at the Operational/Enterprise levels such as System Modeling, Analysis, Performance Evaluation; Planning, Scheduling, Coordination; Risk Management; and Supply Chain Management. T-ASE will integrate knowledge across disciplines and industries.Details on IEEE's motivation, distinctions between Robotics and Automation, scope statements, and sample application areas are available at: http://www.ieee.org/t-ase. The first issue will appear in July 2004.Paper Categories: T-ASE publishes both Regular and Short Papers and Communication Items. Regular papers describe new abstractions, algorithms, theory, methodologies, models, systems, or enabling technologies for Automation. Short papers usually describe a single result, experiment, or technique of general interest for which a short treatment is appropriate. Communications items are a separate class of short manuscripts that are subject to an expedited review process and substantially faster publication than regular or short papers. Appropriate items include (but are not limited to) rebuttals and/or counter examples of previously published papers, or preliminary results of significant current research of wide interest. Review papers are published periodically, and manuscripts of a tutorial or review nature are welcome. Papers describing specific current applications are encouraged, provided that the methods represent the best current practice, detailed characteristics and performance are included, and they are of general interest. Multipart papers will only be published if there is compelling rationale for a multipart treatment. All parts of such submissions must be accepted for any part to be published. In addition, T-ASE addresses a research community willing to integrate knowledge across disciplines and industries. For this purpose, each paper shall includ...
Industrial robots, automated manufacturing, and efficient logistics processes are at the heart of the upcoming fourth industrial revolution. While there are seminal studies on the vulnerabilities of cyber-physical systems in the industry, as of today there has been no systematic analysis of the security of industrial robot controllers. We examine the standard architecture of an industrial robot and analyze a concrete deployment from a systems security standpoint. Then, we propose an attacker model and confront it with the minimal set of requirements that industrial robots should honor: precision in sensing the environment, correctness in execution of control logic, and safety for human operators. Following an experimental and practical approach, we then show how our modeled attacker can subvert such requirements through the exploitation of software vulnerabilities, leading to severe consequences that are unique to the robotics domain. \ud We conclude by discussing safety standards and security challenges in industrial robotics
In order to improve production flexibility, it is widely agreed that future working environments will be populated by both humans and robot manipulators, sharing the same workspace. This scenario introduces a series of safety issues which are uncommon in industrial settings where physical separation of robot areas is typically enforced. While several approaches for safe human-robot interaction exist, none of them can be easily integrated with production constraints. This paper discusses the composition of safety constraints with production ones. An algorithm is derived in order to maximize productivity, while guaranteeing a safe separation distance of the robot from the human. Experimental results showing the effectiveness of the approach in a typical industrial setting are also discussed.
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