Contemporary Issues and Advances in Human-Robot Collaborations

Material type: 図書

Author: 畑中, 健志ほか

Publisher: Wiley-IEEE Press

Publication date: 2023

Material Format: Paper

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Note (General)：: Chapter Abstract: Human–robot collaboration is a multidisciplinary research field that was established as an independent research field in the mid‐199...

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Paper

Material Type: 図書
Title: Contemporary Issues and Advances in Human-Robot Collaborations
Author/Editor: 畑中, 健志
Hatanaka, Takeshi
山内, 淳矢
Yamauchi, Junya
Author Heading: 畑中, 健志
Hatanaka, Takeshi
山内, 淳矢
Yamauchi, Junya
Publication, Distribution, etc.: Wiley-IEEE Press
Publication Date: 2023
Publication Date (W3CDTF): 2023
Periodical title: Cyber-Physical-Human Systems: Fundamentals and Applications
Pages: 365-400
Text Language Code: eng
Subject Heading: Robots
Collaboration
Task analysis
Payloads
Mathematical models
Predictive models
Navigation
Target Audience: 一般
Note (General): Chapter Abstract: Human–robot collaboration is a multidisciplinary research field that was established as an independent research field in the mid‐1990s, although several pioneering works predate that time. The first part of this chapter is devoted to giving a brief overview of the history and contemporary issues in human–robot collaborations, while highlighting four key factors: task architecture, team formation, human modeling in the aspect of decision and control, and human modeling of other factors. This chapter presents not only research advances in academia but also technological advances in industry with some real use cases of human–robot collaborations in factories. We then review two of our recent research outcomes, namely (i) human‐enabled multirobot navigation, and (ii) operation support with variable autonomy for remote harvesting. In the former, we address a complementary interaction between a human and a network of multiple robots, during which we present a distributed control architecture based on the well‐established concept of passivity. In the latter, we address an overlapping human–robot interaction and design an online autonomy determination mechanism based on Gaussian process, a machine learning technique. In both sections, we conduct user studies to examine human passivity, human workload, and human usability. We conclude by providing our vision for the future of human–robot collabora
identifier:oai:t2r2.star.titech.ac.jp:50655131
Related Material (DOI): 10.1002/9781119857433.ch14
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Original Data Provider (Database): 東京工業大学 : 東京工業大学リサーチリポジトリ