TUTCRIS - Tampereen teknillinen yliopisto

TUTCRIS

Architecture for Safe Human-Robot Collaboration: Multi-Modal Communication in Virtual Reality for Efficient Task Execution

Tutkimustuotosvertaisarvioitu

Yksityiskohdat

AlkuperäiskieliEnglanti
Otsikko2019 IEEE 28th International Symposium on Industrial Electronics, ISIE 2019
KustantajaIEEE
Sivut2297-2302
Sivumäärä6
ISBN (elektroninen)9781728136660
DOI - pysyväislinkit
TilaJulkaistu - 1 kesäkuuta 2019
OKM-julkaisutyyppiA4 Artikkeli konferenssijulkaisussa
TapahtumaIEEE International Symposium on Industrial Electronics - Vancouver, Kanada
Kesto: 12 kesäkuuta 201914 kesäkuuta 2019

Julkaisusarja

Nimi
ISSN (painettu)2163-5137

Conference

ConferenceIEEE International Symposium on Industrial Electronics
MaaKanada
KaupunkiVancouver
Ajanjakso12/06/1914/06/19

Tiivistelmä

Task-sharing and Human-Robot Collaboration has gained increased attention with the widespread commissioning and usage of collaborative robots. However, recent studies show that the fenceless collaborative robots are not as harmless as they look like. In order to study Human-Robot Interaction scenarios, in a safe manner, we propose to execute the scenario in Virtual Reality simulation and afterwards implement it in real robotic applications (supervised from VR). In addition, this simulated world allows ad-hoc modifications and easy prototyping of different multi-modal communication forms. In this paper we propose an architecture for safe human-robot collaboration and describe a use-case: task of nut screwing, which is executed by the human and the robot together. The nut is hold by the human and the screw is screwed into the nut by the robot (as this part is the repetitive part of the task). The task can be executed in the VR simulation with different input and feedback channels (multi-modal) in order to identify the most efficient communication way between the human and the robot. The different input and output channels are presented in detail.

Tutkimusalat

Julkaisufoorumi-taso