A timing control model for H-R synchronization

Roy Someshwar, Joachim Meyer, Yael Edan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

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.

Original languageEnglish
Title of host publicationSYROCO 2012 Preprints - 10th IFAC Symposium on Robot Control
PublisherIFAC Secretariat
Pages698-703
Number of pages6
Edition22
ISBN (Print)9783902823113
DOIs
StatePublished - 2012
Externally publishedYes
Event10th IFAC Symposium on Robot Control, SYROCO 2012 - Dubrovnik, Croatia
Duration: 5 Sep 20127 Sep 2012

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
Number22
Volume45
ISSN (Print)1474-6670

Conference

Conference10th IFAC Symposium on Robot Control, SYROCO 2012
Country/TerritoryCroatia
CityDubrovnik
Period5/09/127/09/12

Keywords

  • Human-Robot collaboration
  • Human-Robot interaction
  • Modeling
  • Robots in manufacturing industry
  • Synchronization
  • Time-critical cooperative task

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