Work-related musculoskeletal disorders (MSD) are one of the major cause of injuries and absenteeism at work. These lead to important cost in the manufacturing industry. Human-robot collaboration can help decreasing this issue by appropriately distributing the tasks and decreasing the workload of the factory worker. This paper proposes a novel generic task allocation approach based on hierarchical finite-state machines for human-robot assembly tasks. The developed framework decomposes first the main task into sub-tasks modelled as state machines. Based on capabilities considerations, workload, and performance estimations, the task allocator assigns the sub-task to human or robot agent. The algorithm was validated on the assembly of a crusher unit of a smoothie machine using the collaborative Franka Emika Panda robot and showed promising results in terms of productivity thanks to task parallelization, with improvement of more than 30% of the total assembly time with respect to a collaborative scenario, where the agents perform the tasks sequentially.
|Title of host publication||2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)|
|Number of pages||7|
|Volume||2022 - December|
|Publication status||Published - 26 Dec 2022|
|Event||2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Kyoto International Conference Center, Kyoto, Japan|
Duration: 23 Oct 2022 → 27 Oct 2022
|Name||IEEE International Conference on Intelligent Robots and Systems|
|Conference||2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)|
|Period||23/10/22 → 27/10/22|
Bibliographical noteFunding Information:
This work was supported by European Union’s Horizon 2020 research and innovation program under Grant Agreement No. 871237 (SOPHIA) and Flanders Make through the programme ”Onderzoeksprogramma Artificiele Intelligentie (AI) Vlaanderen” of the Flemish Government. 1 Robotics and Multibody Mechanics Research Group, Vrije Uni-versiteit Brussel, Belgium, www.brubotics.eu. Corresponding author: Ilias.El.Makrini@vub.be 2 Flexible Assembly, Flanders Make, Belgium 3 HRI2 Lab, Istituto Italiano di Tecnologia, Via Morego 30, 16163, Genova, Italy 4 Interuniversity Microelectronics Centre (IMEC), Belgium 5 Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy
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