TY - GEN
T1 - A timing control model for H-R synchronization
AU - Someshwar, Roy
AU - Meyer, Joachim
AU - Edan, Yael
N1 - Funding Information:
This research was supported by the EU funded Initial Training Network (ITN) in the Marie-Curie People Programme (FP7): INTRO (INTeractive RObotics research network), grant agreement number: 23848TRO research project and partially supported by the Paul Ivanier Center for Robotics Research and Production Management, and by the Rabbi W. Gunther Plaut Chair in Manufacturing Engineering, Ben-Gurion University of the Negev.
PY - 2012/1/1
Y1 - 2012/1/1
N2 - A timing control model is presented as a possible way to control a Human-Robot system executing a collaborative task in which a high level of synchronization among the agents is desired. The influencing parameters that affect the process of synchronization were analyzed. The performance of the model was evaluated based on costs of the waiting times of each of the agents at the spatial point of handover. The model was applied to two case-studies of dynamic H-R collaborative scenarios. Results indicate that for certain scenarios, the timing control model is preferable over sensor based control. The timing control model provides a balance between speed and moderate accuracy requirements.
AB - A timing control model is presented as a possible way to control a Human-Robot system executing a collaborative task in which a high level of synchronization among the agents is desired. The influencing parameters that affect the process of synchronization were analyzed. The performance of the model was evaluated based on costs of the waiting times of each of the agents at the spatial point of handover. The model was applied to two case-studies of dynamic H-R collaborative scenarios. Results indicate that for certain scenarios, the timing control model is preferable over sensor based control. The timing control model provides a balance between speed and moderate accuracy requirements.
KW - Human-Robot collaboration
KW - Human-Robot interaction
KW - Modeling
KW - Robots in manufacturing industry
KW - Synchronization
KW - Time-critical cooperative task
UR - http://www.scopus.com/inward/record.url?scp=84881013562&partnerID=8YFLogxK
U2 - 10.3182/20120905-3-HR-2030.00134
DO - 10.3182/20120905-3-HR-2030.00134
M3 - Conference contribution
AN - SCOPUS:84881013562
SN - 9783902823113
T3 - IFAC Proceedings Volumes (IFAC-PapersOnline)
SP - 698
EP - 703
BT - SYROCO 2012 Preprints - 10th IFAC Symposium on Robot Control
PB - IFAC Secretariat
T2 - 10th IFAC Symposium on Robot Control, SYROCO 2012
Y2 - 5 September 2012 through 7 September 2012
ER -
