Structured collaborative behavior of industrial robots in mixed human-robot environments

IEEE International Conference on Automation Science and Engineering

Volumn , Issue , 2013, Pages 1101-1106

  Ding, Hao ^a   Heyn, Jakob ^b   Matthias, Bjorn ^a   Staab, Harald ^c  

^a ABB AG   (Germany)

^b TECHNICAL UNIVERSITY OF BRAUNSCHWEIG   (Germany)

^c ABB INC   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATON MODEL; COLLABORATION MODES; COLLABORATIVE BEHAVIOR; EVALUATION CRITERIA; EXCEPTION RECOVERIES; INDUSTRIAL ASSEMBLIES; PRODUCTION OPERATIONS; SAFETY CONSTRAINT;

FINITE AUTOMATA; HUMAN ROBOT INTERACTION; INDUSTRIAL ROBOTS; PRODUCTIVITY;

SAFETY ENGINEERING;

EID: 84891504815     PISSN: 21618070     EISSN: 21618089     Source Type: Conference Proceeding    
DOI: 10.1109/CoASE.2013.6653962     Document Type: Conference Paper

References (22)

1. ABB Robotics. 10 good reasons to invest in robots, 2007.
2. S. Haddadin, Michael Suppa, Stefan Fuchs, Tim Bodenm̈uller, Alin Albu-Scḧaffer, and Gerd Hirzinger. Towards the robotic co-worker. In C. Pradalier, R. Siegwart, and G. Hirzinger, editors, Robotics Research, volume 70 of Springer Tracts in Advanced Robotics, pages 261-282. Springer, 2011.
3. S. Haddadin, A.A. Schaeffer, and G. Hirzinger. Requirements for safe robots: measurements, analysis and new insights. Int. J. of Robot. Research, 28:1507-1527, 2008.
4. A. Mekki-Mokhtar, J. Blanquart, J. Guiochet, D. Powell, and M. Roy. Safety trigger conditions for critical autonomous systems. In IEEE 18th Pacific Rim International Symposium on Dependable Computing (PRDC), pages 61-69, 2012.
5. Roger Woodman, Alan F.T. Winfield, Chris Harper, and Mike Fraser. Building safer robots: Safety driven control. Int. J. of Robot. Research, 31(13):1603-1626, 2012.
6. ISO 10218-1, "Robots and robotic devices Safety requirements for industrial robots Part 1: Robots", 2011.
7. B. Matthias, S. Kock, H. Jerregard, M. Kallman, I. Lundberg, and R. Mellander. Safety of collaborative industrial robots: Certification possibilities for a collaborative assembly robot concept. In 2011 IEEE International Symposium on Assembly and Manufacturing (ISAM), 2011.
8. A.D Santis, B. Siciliano, A.D. Luca, and A. Bicchi. An atlas of physical human-robot interaction. Mechanism and Machine Theory, 43:253-270, 2008.
9. S. Kock, T. Vittor, B. Matthias, H. Jerregard, M. Kallman, I. Lundberg, R. Mellander, and M. Hedelind. Robot concept for scalable, flexible assembly automation: A technology study on a harmless dual-armed robot. In IEEE International Symposium on Assembly and Manufacturing (ISAM), pages 1-5, May 2011.
10. S. Kain, H. Ding, F. Schiller, and O. Stursberg. Controller architecture for safe cognitive technical systems. In F. Saglietti and N. Oster, editors, Computer Safety, Reliability, and Security (SAFECOMP), volume 4680 of LNCS, pages 518-531. Springer, 2007.
11. D. Stengel, B. Ostermann, H. Ding, D. Bortot, F. Schiller, O. Stursberg, K. Bengler, M. Huelke, F. Som, and U. Strunz. An approach for safe and efficient human-robot-collaboration. In 6th Int. Conf. on Safety of Industrial Automated Syst., 2011.
12. H. Ding, G. Reißig, and O. Stursberg. Increasing efficiency of optimization-based path planning for robotic manipulators. In Proc. of the IEEE Conf. on Decision and Control (CDC) and European Control Conf. (ECC), pages 1399-1404, 2011.
13. H. Ding, G. Schnattinger, B. Passenberg, and O. Stursberg. Improving motion of robotic manipulators by an embedded optimizer. In Proc. of the IEEE Conf. on Autom. Sci. and Eng. (CASE), pages 204-209, 2010.
14. H. Ding, K. Wijaya, G. Reißig, and O. Stursberg. Optimizing motion of robotic manipulators in interaction with human operators. In S. Jeschke et al., editor, Int. Conf. on Intell. Robot. and Appl., LNCS, pages 520-531. Springer, 2011.
15. Stefan Kuhn, Thorsten Gecks, and Dominik Henrich. Velocity control for safe robot guidance based on fused vision and force/torque data. In Proc. of IEEE Conf. on Multisensor Fusion and Integration for Intelligent Systems, pages 485-492, 2006.
16. Rolf Dieter Schraft, Stefan Schmid, and Stefan Thiemermann. Manrobot cooperation in a flexible assembly cell. Assembly Automation, 22(2):136-138, 2002.
17. Alexander M̈ortl, Martin Lawitzky, Ayse Kucukyilmaz, Metin Sezgin, Cagatay Basdogan, and Sandra Hirche the role of role: Physical cooperation between humans and robots. Int. J. of Robot. Research, 31:16561674, 2012.
18. Stefanos Nikolaidis and Julie Shah. Human-robot cross-training: Computational formulation, modeling and evaluation of a human team training strategy. In Proc. of the IEEE/ACM Int. Conf. on Human-Robot Interaction, 2013. to appear.
19. Ronald Wilcox, Stefanos Nikolaidis, and Julie Shah. Optimization of temporal dynamics for adaptive human-robot interaction in assembly manufacturing. In Proc. Robotics, Science and Systems (RSS), 2012.
20. IEC 60204-1, "Safety of machinery-Electrical equipment of machines", 2009.
21. ABB. Dual-arm concept robot (FRIDA). www.abb.com.
22. H. Ding, M. Schipper, and B. Matthias. Design of robotic behavior for multiple human-robot collaboration. In 44th Int. Symp. on Robotics, 2013. to appear.