Robotics and Computer-integrated Manufacturing最新文献_第3页

Empowering natural human–robot collaboration through multimodal language models and spatial intelligence: Pathways and perspectives 通过多模态语言模型和空间智能增强自然人机协作：途径和观点

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-06-11 DOI: 10.1016/j.rcim.2025.103064

Duidi Wu , Pai Zheng , Qianyou Zhao , Shuo Zhang , Jin Qi , Jie Hu , Guo-Niu Zhu , Lihui Wang

{"title":"Empowering natural human–robot collaboration through multimodal language models and spatial intelligence: Pathways and perspectives","authors":"Duidi Wu , Pai Zheng , Qianyou Zhao , Shuo Zhang , Jin Qi , Jie Hu , Guo-Niu Zhu , Lihui Wang","doi":"10.1016/j.rcim.2025.103064","DOIUrl":"10.1016/j.rcim.2025.103064","url":null,"abstract":"<div><div>Industry 5.0 advocates human-centric smart manufacturing (HSM), with growing attention to proactive human-machine collaboration (HRC). Meanwhile, the rapid development of Multimodal large language models (MLLMs) and embodied intelligence is driving an unprecedented evolution. This work aims to leverage these opportunities to enhance robots’ learning and cognitive capabilities, enabling seamless and natural interaction. However, current research often overlooks human–robot symbiosis and lacks attention to specialized models and practical applications. This review adheres to a human-centric vision, taking language as the pivot to connect humans with large models. To our best knowledge, this is the first attempt to integrate HRC, MLLMs and embodied intelligence into a holistic view. The review first introduces representative foundation models to provide a comprehensive summary of state-of-the-art methods in the ”Perception-Cognition-Actuation” loop. It then discusses pathways and platforms for efficient spatial skills learning, followed by an analysis of four key questions from the ”Why, How, What, Where” perspectives. Finally, it highlights future challenges and potential research directions. It is hoped that this work can help fill the research gap between HRC and MLLMs, offering a systematic pathway for developing human-centered collaborative systems and promoting further exploration and innovation in this exciting and crucial field. The resources are available at: <span><span>https://github.com/WuDuidi/MLLM-HRC-Survey</span><svg><path></path></svg></span>.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"97 ","pages":"Article 103064"},"PeriodicalIF":9.1,"publicationDate":"2025-06-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144255301","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

AIGC-empowered smart manufacturing: Prospects and challenges aigc授权的智能制造：前景与挑战

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-06-10 DOI: 10.1016/j.rcim.2025.103076

Jiewu Leng , Keyou Zheng , Rongjie Li , Chong Chen , Baicun Wang , Qiang Liu , Xin Chen , Weiming Shen

{"title":"AIGC-empowered smart manufacturing: Prospects and challenges","authors":"Jiewu Leng , Keyou Zheng , Rongjie Li , Chong Chen , Baicun Wang , Qiang Liu , Xin Chen , Weiming Shen","doi":"10.1016/j.rcim.2025.103076","DOIUrl":"10.1016/j.rcim.2025.103076","url":null,"abstract":"<div><div>Generative AI (GenAI), the technology behind Artificial Intelligence Generated Content (AIGC), has emerged as a transformative technology in smart manufacturing. However, its full potential and integration within manufacturing processes remain unexplored. This paper presents a comprehensive framework that aligns a GenAI-centered approach with Product Lifecycle Management (PLM), systematically examining the AIGC landscape and its applications across various manufacturing phases. To ensure accuracy and relevance, a human-in-the-loop pipeline is employed to curate and analyze cutting-edge research. Key contributions of this study include: 1) a holistic perspective on AIGC-empowered smart manufacturing, 2) an in-depth analysis of the current technological landscape, and 3) the identification of critical research challenges and future directions. Additionally, the paper considers Industry 5.0 principles, emphasizing human-centricity, sustainability, and resilience. By fostering discussion and collaboration, this review aims to advance innovation and unlock the full potential of AIGC in smart manufacturing.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"97 ","pages":"Article 103076"},"PeriodicalIF":9.1,"publicationDate":"2025-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144240880","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robotic hand–eye calibration utilizing limited geometric features object 基于有限几何特征的机器人手眼标定

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-06-10 DOI: 10.1016/j.rcim.2025.103066

Shengpeng Fu , Zhiliang Chen , Jibin Zhao , Renbo Xia , Tao Zhang

{"title":"Robotic hand–eye calibration utilizing limited geometric features object","authors":"Shengpeng Fu , Zhiliang Chen , Jibin Zhao , Renbo Xia , Tao Zhang","doi":"10.1016/j.rcim.2025.103066","DOIUrl":"10.1016/j.rcim.2025.103066","url":null,"abstract":"<div><div>Hand–eye calibration is essential for intelligent robots to accurately perceive their environment, primarily focused on determining the transformation matrix between the robot flange coordinate system and the 3D sensor coordinate system. However, current robot hand–eye calibration methods heavily depend on costly specialized calibration objects, such as calibration boards and spheres, which complicate the calibration process and hinder the robot’s ability to perform self-calibration at any time and in any location. To address this issue, this paper proposes a novel robot hand–eye calibration method that utilizes the reconstruction of common objects with limited geometric features. Specifically, a point cloud feature description method that integrates eigenvalue entropy is introduced to extract feature points from multi-pose point clouds of these objects. Subsequently, a registration strategy based on the random sampling consensus of partitioned point clouds is employed for the coarse registration of the point cloud, estimating the initial hand–eye relationship, followed by iterative optimization through fine registration to determine precise hand–eye parameters. Extensive experimental results demonstrate that the proposed method offers a simple and efficient calibration process, eliminates reliance on specialized calibration objects, and achieves calibration accuracy comparable to that of high-precision calibration boards, thereby showcasing the advantages of the proposed approach.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"97 ","pages":"Article 103066"},"PeriodicalIF":9.1,"publicationDate":"2025-06-10","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144240881","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A study on the predictive capabilities of digital twins for object transfers in a remanufacturing demonstration environment 再制造演示环境下数字孪生对物体转移的预测能力研究

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-06-05 DOI: 10.1016/j.rcim.2025.103063

Jan-Felix Klein, Kai Furmans

{"title":"A study on the predictive capabilities of digital twins for object transfers in a remanufacturing demonstration environment","authors":"Jan-Felix Klein, Kai Furmans","doi":"10.1016/j.rcim.2025.103063","DOIUrl":"10.1016/j.rcim.2025.103063","url":null,"abstract":"<div><div>Remanufacturing processes are characterized by high uncertainty due to the variable conditions of returned cores, which makes automation challenging and necessitates considerable process flexibility. Industry 4.0 methods are often proposed to mitigate this uncertainty, yet real-world demonstrations that validate their effectiveness remain limited. This study addresses this research gap by presenting a flexible, digital-twin driven object transfer system implemented in a remanufacturing demonstration environment. The system under consideration involves an autonomous mobile robot that docks at multiple stationary transfer points to transfer unique starter motor cores without the use of load carriers. Since the object transfer process is probabilistic, virtual models are employed in a physics-simulated environment to predict object-specific pre-transfer states, defined as the state an object before the transfer is executed. The predictive capabilities of the digital twins are evaluated through an extensive experimental study, involving a series of physical and virtual experiments conducted on 37 unique starter motor cores.</div><div>The study includes calibration experiments to tune the virtual models, followed by large-scale virtual experiments to estimate the probability of successful transfer for a fixed set of pre-transfer states. A custom method is applied to determine the most promising pre-transfer state for each starter motor core. Final validation results highlight the effectiveness of the approach and indicate that increased modeling efforts reveal inherent limitations in the predictive accuracy of the virtual models. Sources of error, including mass distribution approximations and simulation inaccuracies, are discussed, and directions for future improvements are outlined.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"97 ","pages":"Article 103063"},"PeriodicalIF":9.1,"publicationDate":"2025-06-05","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144221679","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Novel calibration method for robotic bottom-up vat polymerization additive manufacturing systems 机器人自底向上还原聚合增材制造系统标定新方法

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-06-04 DOI: 10.1016/j.rcim.2025.103059

Evan Rolland , Yasser Krim , Ahmed Joubair , Ilian A. Bonev , Evan Jones , Pengpeng Zhang , Cheng Sun , Nanzhu Zhao

{"title":"Novel calibration method for robotic bottom-up vat polymerization additive manufacturing systems","authors":"Evan Rolland , Yasser Krim , Ahmed Joubair , Ilian A. Bonev , Evan Jones , Pengpeng Zhang , Cheng Sun , Nanzhu Zhao","doi":"10.1016/j.rcim.2025.103059","DOIUrl":"10.1016/j.rcim.2025.103059","url":null,"abstract":"<div><div>This article presents a new affordable calibration method for a 7-axis robotic system used for vat polymerization 3D printing. The method employs three metrology elements: a calibration robot end-effector with three precision balls, a measurement probe composed of three linear gauges, and, notably, a kinematic coupling allowing the precise positioning of the probe onto the resin tank in three locations. The robotic system comprises a Mecademic Meca500 6-axis industrial robot mounted on a Zaber X-LRQ300AP linear guide. The calibration method consists of automatically aligning the centers of each of the three precision balls with the probe origin. This alignment is performed with different robot joint angles and linear guide displacements, and for all three locations of the probe. After calibration, the relative accuracy of the 7-axis robotic system with respect to the resin tank, as validated using a laser tracker, is improved from 1.272 mm to 0.271 mm, which is comparable to what can be achieved with significantly more expensive metrology equipment.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"97 ","pages":"Article 103059"},"PeriodicalIF":9.1,"publicationDate":"2025-06-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144212585","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Dynamic control with a remote center-of-motion constraint for human–robot collaboration 基于远程运动中心约束的人机协作动态控制

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-05-31 DOI: 10.1016/j.rcim.2025.103060

Junchen Wang , Siqin Yang , Heng Liu , Chunheng Lu , Yu Shen

{"title":"Dynamic control with a remote center-of-motion constraint for human–robot collaboration","authors":"Junchen Wang , Siqin Yang , Heng Liu , Chunheng Lu , Yu Shen","doi":"10.1016/j.rcim.2025.103060","DOIUrl":"10.1016/j.rcim.2025.103060","url":null,"abstract":"<div><div>This paper presents a novel dynamics-based human–robot collaboration (HRC) control method with a remote center-of-motion (RCM) constraint. The existing works rely on prescribed main task trajectories and regard the RCM constraint as a secondary task, making them inapplicable in the fully interactive mode under HRC. Our work imposes a virtual RCM constraint on the interactive HRC process so that the robot’s motion conforms to human intentions while keeping the robot’s end-effector shaft always passing through a fixed (RCM) point. In our approach, the task coordinates of the RCM constraint and its Jacobian matrix are formulated, and a task control law with a computed torque controller is proposed to guarantee the convergence of the RCM error. In the null space of the RCM constraint, a mass-damping impedance control law is used to make the robot motion conform to human interactions. To address the uncertainties of both the dynamic model and external interactions of the robot, a nonlinear disturbance observer is employed to estimate the lumped disturbance projected to the task space of the RCM for steady error elimination. We also show that the robot RCM task approaches a singularity as the RCM error approaches zero. A least-squares damping inversion method is used to map the task-space motion to the joint space near the singularity. Experiments are performed to validate the effectiveness of our method, and the results show that the maximum RCM error is less than 0.85 mm during fast HRC interactions and converges to zero when the interactions cease.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"96 ","pages":"Article 103060"},"PeriodicalIF":9.1,"publicationDate":"2025-05-31","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144178269","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A novel open and efficient robot development framework based on data distribution service orchestration for agile manufacturing 面向敏捷制造的基于数据分布服务编排的新型开放高效机器人开发框架

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-05-29 DOI: 10.1016/j.rcim.2025.103067

Le Qi , Xiaogang Zhang , Haoran Tan , Hua Chen , Yaonan Wang

{"title":"A novel open and efficient robot development framework based on data distribution service orchestration for agile manufacturing","authors":"Le Qi , Xiaogang Zhang , Haoran Tan , Hua Chen , Yaonan Wang","doi":"10.1016/j.rcim.2025.103067","DOIUrl":"10.1016/j.rcim.2025.103067","url":null,"abstract":"<div><div>To address the challenges of openness and development efficiency in heterogeneous robotic systems for agile manufacturing, this paper proposes a novel development framework leveraging Data Distribution Service (DDS) orchestration. This framework is designed to enhance system openness, streamline development, and ensure high-performance communication critical for manufacturing agility. Firstly, the paper proposes an orchestration-driven, service-oriented architecture with a robust foundation for efficient development and integration. To further enable intuitive and efficient development, a visual modeling description method based on data flow and workflow paradigms is proposed, facilitating the online orchestration of DDS services. Additionally, a model-driven, contract-based approach for dynamic proxy service construction has been developed, allowing DDS services to be exposed as standardized Web Services, which significantly improves system openness within broader manufacturing networks. Finally, a design method for the orchestration execution engine based on Apache Camel is proposed to support the dynamic execution of DDS orchestration and proxy tasks. Comparative experiments with Robot Operating System 2 (ROS2) validate the proposed framework’s significant advantages in terms of openness, development flexibility, and efficiency, demonstrating its suitability for agile manufacturing scenarios.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"96 ","pages":"Article 103067"},"PeriodicalIF":9.1,"publicationDate":"2025-05-29","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144167829","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Joint optimization of production scheduling and worker allocation under a resource dedication policy in aircraft assembly lines 资源分配政策下飞机装配线生产调度与工人分配的联合优化

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-05-24 DOI: 10.1016/j.rcim.2025.103047

Xiong Zheng , Fei Qiao , Shiqi You , Xi Vincent Wang , Lihui Wang , Junkai Wang

{"title":"Joint optimization of production scheduling and worker allocation under a resource dedication policy in aircraft assembly lines","authors":"Xiong Zheng , Fei Qiao , Shiqi You , Xi Vincent Wang , Lihui Wang , Junkai Wang","doi":"10.1016/j.rcim.2025.103047","DOIUrl":"10.1016/j.rcim.2025.103047","url":null,"abstract":"<div><div>Worker resources are crucial in aircraft final assembly lines (AFAL), which are characterized by extensive manual assembly tasks. The features of AFAL, including resource constraints, makespan balancing, and flexibility in resource allocation, present greater challenges than conventional scheduling problems. This paper addresses the joint optimization problem of worker allocation under a resource dedication policy and scheduling of multi-mode tasks in the AFAL. Bi-objective with lexicographic order of minimizing the cycle time and total worker investment is considered, and an integer programming model is developed to formulate this problem. We propose a resource reallocation embedded genetic algorithm (RReGA) to solve this optimization challenge effectively. Initially, hybrid dispatch rules (HDRs) are employed to estimate the resource-makespan mapping of each workstation, yielding a high-quality initial resource allocation solution. Leveraging these mappings, a resource reallocation method, composed of a resource transfer strategy and a resource recovery strategy, is embedded in the evolutionary process of the genetic algorithm (GA) searching for scheduling solutions at the workstation. The resource transfer strategy is responsible for dynamic resource transfer across workstations, following a novel transfer principle to optimize the cycle time; while the resource recovery strategy aims to meet makespan constraints with the fewest workers to minimize cost. The efficacy and superior performance of the proposed algorithm are validated through comprehensive comparison and ablation experiments, as well as an unbalanced case study.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"96 ","pages":"Article 103047"},"PeriodicalIF":9.1,"publicationDate":"2025-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144123675","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

A parallel network model: Intelligent monitoring of tool wear under variable working conditions 一种并行网络模型：变工况下刀具磨损的智能监测

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-05-24 DOI: 10.1016/j.rcim.2025.103065

Jiacheng Sun , Zhenyu Liu , Dong Wang , Chan Qiu , Hui Liu , Kun Huang , Jianrong Tan

{"title":"A parallel network model: Intelligent monitoring of tool wear under variable working conditions","authors":"Jiacheng Sun , Zhenyu Liu , Dong Wang , Chan Qiu , Hui Liu , Kun Huang , Jianrong Tan","doi":"10.1016/j.rcim.2025.103065","DOIUrl":"10.1016/j.rcim.2025.103065","url":null,"abstract":"<div><div>Accurate monitoring of tool wear states and wear values is crucial for reducing machine tool failures and ensuring machining accuracy and efficiency. However, wear monitoring faces significant challenges due to the imbalance of wear samples and the dynamic changes in the coupling relationships among multi-source sensing signals. Additionally, varying processing conditions further complicate the accurate tracking of wear. To address these challenges, an evolutionary spatio-temporal parallel network model is proposed. The model first employs a cyclic consistency classification enhancement network to accurately identify the real-time wear state of the tool. Then, it utilizes a parallel network to uncover the spatio-temporal coupling relationships within multi-source sensing data. Based on this, an evolutionary monitoring mechanism drives the continuous evolution and update of the model, adapting to real-time wear state and working condition changes, thus achieving precise tool wear monitoring under variable working conditions. Our self-built grinding wheel wear dataset and PHM2010 milling public dataset are used to verify the effectiveness of the method. Experimental results demonstrate that the proposed method improves prediction accuracy by 55.85 %, 10.26 %, and 50.14 % over existing methods on the C1, C4, and C6 datasets of PHM2010, respectively, while achieving a remarkable accuracy advantage of over 96.63 % in grinding wheel wear prediction.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"96 ","pages":"Article 103065"},"PeriodicalIF":9.1,"publicationDate":"2025-05-24","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144123676","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0

Robot assistance primitives with force-field guidance for shared task collaboration 为共享任务协作提供力场引导的机器人辅助原语

IF 9.1 1区计算机科学

Robotics and Computer-integrated Manufacturing Pub Date : 2025-05-23 DOI: 10.1016/j.rcim.2025.103061

Sophokles Ktistakis , Lucas Gimeno , Fatima-Zahra Laftissi , Alexis Hoss , Antonio De Donno , Mirko Meboldt

{"title":"Robot assistance primitives with force-field guidance for shared task collaboration","authors":"Sophokles Ktistakis , Lucas Gimeno , Fatima-Zahra Laftissi , Alexis Hoss , Antonio De Donno , Mirko Meboldt","doi":"10.1016/j.rcim.2025.103061","DOIUrl":"10.1016/j.rcim.2025.103061","url":null,"abstract":"<div><div>This paper proposes a novel framework for human-robot collaboration (HRC) that addresses the critical need for robots to effectively collaborate with humans on shared tasks within unstructured and dynamic environments. While prior research focused on safety-related aspects, such as collision avoidance in shared workspaces, the task-oriented aspects of human-robot collaboration remain largely underexplored. To address this gap, our framework introduces Robot Assistance Primitives (RAPs). These low-level robot actions integrate both safety and task-related behaviours, enabling the robot to function as a collaborative \"third hand\", and provide assistance across the full spectrum of both physical and contactless interactions. A key component of our approach is an extension of impedance control with virtual force fields, which unifies task-related interactions and safety-related aspects within a single control scheme. The framework leverages a state-of-the-art visual perception pipeline that constructs and tracks real-time 3D digital representations of the workspace and the human operator. Additionally, an Augmented Reality Head-Mounted Display (AR-HMD) facilitates multimodal task programming through user gaze, gestures, and speech, as well as providing visual feedback to foster trust during interactions. We validate the feasibility of the proposed framework and conduct a user study to further evaluate user interactions in a collaborative soldering and assembly task. This research not only addresses limitations of current HRC frameworks but also paves the way for exploring novel collaborative applications.</div></div>","PeriodicalId":21452,"journal":{"name":"Robotics and Computer-integrated Manufacturing","volume":"96 ","pages":"Article 103061"},"PeriodicalIF":9.1,"publicationDate":"2025-05-23","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"144116845","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":1,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}

引用次数: 0