Repetitive industrial tasks can be easily performed by traditional robotic systems. However, many other works require cognitive knowledge that only humans can provide. Human-Robot Collaboration (HRC) emerges as an ideal concept of co-working between a human operator and a robot, representing one of the most significant subjects for human-life improvement.The ultimate goal is to achieve physical interaction, where handing over an object plays a crucial role for an effective task accomplishment. Considerable research work had been developed in this particular field in recent years, where several solutions were already proposed. Nonetheless, some particular issues regarding Human-Robot Collaboration still hold an open path to truly important research improvements. This paper provides a literature overview, defining the HRC concept, enumerating the distinct human-robot communication channels, and discussing the physical interaction that this collaboration entails. Moreover, future challenges for a natural and intuitive collaboration are exposed: the machine must behave like a human especially in the pre-grasping/grasping phases and the handover procedure should be fluent and bidirectional, for an articulated function development. These are the focus of the near future investigation aiming to shed light on the complex combination of predictive and reactive control mechanisms promoting coordination and understanding. Following recent progress in artificial intelligence, learning exploration stand as the key element to allow the generation of coordinated actions and their shaping by experience.
This article describes methods and strategies used to develop a humanoid robot with a distributed architecture approach where centralized and local control co-exist and concur to provide robust full monitoring and ef2cient control of a complex system with 22 DOF. A description of the hardware is given before introducing the architecture, since that greatly influences the methods implemented for the control systems and helps in understanding the general decisions. The platform is still undergoing improvement, but the results are very promising, mainly because many potential approaches and research issues have presented themselves and will provide opportunities to test distributed control systems with possibilities that go far beyond the classical control of robots. Some practical issues of servomotor control are also considered since that turned out to be necessary before implementing higher levels of control1 these are, in turn, addressed in the last part the article, which gives an example to demonstrate the possibility of keeping a humanoid robot in an upright balanced position using only local control after reaction forces on the ground.
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