A key requirement for seamless human-robot collaboration is for the robot to make its intentions clear to its human collaborator. A collaborative robot's motion must be legible, or intent-expressive. Legibility is often described in the literature as and effect of predictable, unsurprising, or expected motion. Our central insight is that predictability and legibility are fundamentally different and often contradictory properties of motion. We develop a formalism to mathematically define and distinguish predictability and legibility of motion. We formalize the two based on inferences between trajectories and goals in opposing directions, drawing the analogy to action interpretation in psychology. We then propose mathematical models for these inferences based on optimizing cost, drawing the analogy to the principle of rational action. Our experiments validate our formalism's prediction that predictability and legibility can contradict, and provide support for our models. Our findings indicate that for robots to seamlessly collaborate with humans, they must change the way they plan their motion.

/pdf/legibility-and-predictability-of-robot-motion-4ofd3ikgsc.pdf

Legibility and predictability of robot motion

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Modelling and Control of Robot Manipulators

Robot navigation in the presence of humans raises new issues for motion planning and control when the humans must be taken explicitly into account. We claim that a human aware motion planner (HAMP) must not only provide safe robot paths, but also synthesize good, socially acceptable and legible paths. This paper focuses on a motion planner that takes explicitly into account its human partners by reasoning about their accessibility, their vision field and their preferences in terms of relative human-robot placement and motions in realistic environments. This planner is part of a human-aware motion and manipulation planning and control system that we aim to develop in order to achieve motion and manipulation tasks in the presence or in synergy with humans.

/pdf/a-human-aware-mobile-robot-motion-planner-1miap4wyrt.pdf

A Human Aware Mobile Robot Motion Planner

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 human---robot-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-the-art 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.

/pdf/progress-and-prospects-of-the-human-robot-collaboration-58209jagph.pdf

Progress and prospects of the human---robot collaboration

After many years of rigid conventional procedures of production, industrial manufacturing is going through a process of change toward flexible and intelligent manufacturing, the so-called Industry 4.0. In this paper, human–robot collaboration has an important role in smart factories since it contributes to the achievement of higher productivity and greater efficiency. However, this evolution means breaking with the established safety procedures as the separation of workspaces between robot and human is removed. These changes are reflected in safety standards related to industrial robotics since the last decade, and have led to the development of a wide field of research focusing on the prevention of human–robot impacts and/or the minimization of related risks or their consequences. This paper presents a review of the main safety systems that have been proposed and applied in industrial robotic environments that contribute to the achievement of safe collaborative human–robot work. Additionally, a review is provided of the current regulations along with new concepts that have been introduced in them. The discussion presented in this paper includes multi-disciplinary approaches, such as techniques for estimation and the evaluation of injuries in human–robot collisions, mechanical and software devices designed to minimize the consequences of human–robot impact, impact detection systems, and strategies to prevent collisions or minimize their consequences when they occur.

Working Together: A Review on Safe Human-Robot Collaboration in Industrial Environments

In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday environments. The crucial issues needed to tackle the problem of a safe and dependable physical human-robot interaction (pHRI) were addressed in the EURON Perspective Research Project PHRIDOM (Physical Human- Robot Interaction in Anthropic Domains), aimed at charting the new "territory" of pHRI. While there are certainly also "cognitive" issues involved, due to the human perception of the robot (and vice versa), and other objective metrics related to fault detection and isolation, the discussion in this paper will focus on the peculiar aspects of "physical" interaction with robots. In particular, safety and dependability will be the underlying evaluation criteria for mechanical design, actuation, and control architectures. Mechanical and control issues will be discussed with emphasis on techniques that provide safety in an intrinsic way or by means of control components. Attention will be devoted to dependability, mainly related to sensors, control architectures, and fault handling and tolerance. After PHRIDOM, a novel research project has been launched under the Information Society Technologies Sixth Framework Programme of the European Commission. This "Specific Targeted Research or Innovation" project is dedicated to "Physical Human-Robot Interaction: depENDability and Safety" (PHRIENDS). PHRIENDS is about developing key components of the next generation of robots, including industrial robots and assist devices, designed to share the environment and to physically interact with people. The philosophy of the project proposes an integrated approach to the co-design of robots for safe physical interaction with humans, which revolutionizes the classical approach for designing industrial robots – rigid design for accuracy, active control for safety – by creating a new paradigm: design robots that are intrinsically safe, and control them to deliver performance. This paper presents the state of the art in the field as surveyed by the PHRIDOM project, as well as it enlightens a number of challenges that will be undertaken within the PHRIENDS project.

/pdf/safe-and-dependable-physical-human-robot-interaction-in-1c95hlqyzr.pdf

Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges

Two transglutaminase-mediated modifications of the rat epididymal spermatozoon surface were demonstrated in vitro. Transglutaminase was effective in promoting the binding of spermidine to the sperm. Moreover, the enzyme, by reacting with one of the major proteins secreted by the rat seminal vesicle epithelium, produced a modified form of the protein with a higher molecular weight and the capability of binding to the sperm cells. A specific physiological role for the enzyme, bringing about modifications of the rat sperm surface in the seminal fluid environment, is suggested.

https://science.sciencemag.org/content/sci/226/4676/852.full.pdf

Transglutaminase-mediated modifications of the rat sperm surface in vitro

For use in unstructured domains, highly redundant multi-arm robotic systems need both deliberative and reactive control schemes, in order to safely interact with the environment. The problem of collisions is crucial. A robust reactive algorithm, named the "skeleton algorithm", is proposed for the real-time generation of self-collision avoidance motions, where only proprioceptive sensory data are needed. The algorithm is applied to the DLR humanoid manipulator Justin, and a joint-torque control is used, where the collision avoidance torques are summed to the desired torques corresponding to other tasks; experimental results are reported.

The skeleton algorithm for self-collision avoidance of a humanoid manipulator

A Ca2�-dependent, transglutaminase-like activity has been detected both free in the human seminal plasma and bound on the spermatozoon surface. A marked variability of the two enzymatic activities in the semen of different normal subjects was observed; but limited changes occurred in various ejaculates of the same in dividual. Moreover, we report evidence of the ability of several seminal plasma proteins to act as acyl donor substrates for endogenous transglutaminase, whereas human ejaculated spermatozoa have been shown to possess polyamine-binding sites specifically involved in transglutaminase-catalyzed reactions. It is postulated that semen transglutaminase may play a role in suppressing sperm antigenicity and in the male gamete’s acquiring biological features of a fully differentiated and fertile cell.

A. De Santis

Papers

Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges

Transglutaminase-mediated modifications of the rat sperm surface in vitro

The skeleton algorithm for self-collision avoidance of a humanoid manipulator

Sperm maturation in human semen: role of transglutaminase-mediated reactions.

The multiple virtual end-effectors approach for human-robot interaction