Progress and prospects of the human–robot collaboration

Abstract

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

Synthesis Algorithms for Adaptive Process Control Systems Based on Associative Memory Technology

“…we can conclude that the algorithm (7) ensures the speed of achieving the control goal (5) of order 3 1 k . Achieving the control goal also occurs with non-uniqueness j j q min .…”

“…However, a significant part of the problems -such as performance improvement, invariance to external influences, changes in the characteristics of the control object, etc., are not effectively solved by this approach. Therefore, an urgent need has arisen for improving management systems using non-traditional management technologies [1,3].…”

“…On the one hand this technology is based on the mechanisms of associative recording and information recovery, allowing access to data at high speed. This aspect of application has traditionally been studied in the field of computer technology [1][2][3][4]. On the other hand, the technology of associative memory allows to classify the state of the system at a qualitative level and to form controls that correspond to the current state of the system and a given criterion of control quality on the basis of associative connections.…”

Physical Human–Robot Collaboration: Robotic Systems, Learning Methods, Collaborative Strategies, Sensors, and Actuators

“…Further work has addressed the sensing and collaborative strategies [13], [14], but both works focused on the safety interaction between human and robots in an industrial setting. Furthermore, Ajoudani et al work reported the control strategies, interaction modalities and collaborative interfaces for pHRC [15]. Although, these scholars made efforts to present an up-to-date overview on HRC, but to the best of the authors' knowledge, none of them covered exhaustively the most relevant challenges due to the fast-growing trends in the pHRC technologies and the tremendous demands in the applicability of robotic systems in our day-to-day activities.…”

Ethical and Social Considerations for the Introduction of Human-Centered Technologies at Work

“…These applications have driven research in many fundamental topics, such as adaptative role allocation during collaboration [9], control of contacts and physical interaction [10], learning by demonstration [11], safe control [12]. Specifically, safety issues have received a great deal of attention, both in research and in standardization [13], [12], [14], [15].…”