人間工学的な人とロボットの協調のための信号時相論理プランナ
A Signal Temporal Logic Planner for Ergonomic Human-Robot Collaboration
信号時相論理（STL）で高レベルな仕様を記述し、人間の快適性を考慮しつつタスク割り当てと軌道を自動合成する手法を提案し、送電線でのドローンによる物体受け渡しを例に検証した。
著者: Giuseppe Silano, Amr Afifi, Martin Saska, Antonio Franchi
分類: cs.RO
原文アブストラクト
This paper proposes a method for designing human-robot collaboration tasks and generating corresponding trajectories. The method uses high-level specifications, expressed as a Signal Temporal Logic (STL) formula, to automatically synthesize task assignments and trajectories. To illustrate the approach, we focus on a specific task: a multi-rotor aerial vehicle performing object handovers in a power line setting. The motion planner considers limitations, such as payload capacity and recharging constraints, while ensuring that the trajectories are feasible. Additionally, the method enables users to specify robot behaviors that take into account human comfort (e.g., ergonomics, preferences) while using high-level goals and constraints. The approach is validated through numerical analyzes in MATLAB and realistic Gazebo simulations using a mock-up scenario.
