Human-Robot Collaboration (HRC) is rapidly replacing the traditional application of robotics in the manufacturing industry. Robots and human operators no longer have to perform their tasks in segregated areas and are capable of working in close vicinity and performing hybrid tasks-performed partially by humans and by robots. We have presented a methodology in an earlier work [16] to promote and facilitate formally modeling HRC systems, which are notoriously safety-critical. Relying on temporal logic modeling capabilities and automated model checking tools, we built a framework to formally model HRC systems and verify the physical safety of human operator against ISO 10218-2 [10] standard. In order to make our proposed formal verification framework more appealing to safety engineers, whom are usually not very fond of formal modeling and verification techniques, we decided to couple our model checking approach with a 3D simulator that demonstrates the potential hazardous situations to the safety engineers in a more transparent way. This paper reports our co-simulation approach, using Morse simulator [4] and Zot model checker [14].,.


    Access

    Download


    Export, share and cite



    Title :

    Co-simulation of human-robot collaboration: From temporal logic to 3d simulation



    Publication date :

    2020-01-01



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    DDC:    629



    A Signal Temporal Logic Planner for Ergonomic Human–Robot Collaboration

    Silano, Giuseppe / Afifi, Amr / Saska, Martin et al. | IEEE | 2023


    HUMAN-ROBOT COLLABORATION

    FELIP LEON JAVIER / AHUJA NILESH / CAMPOS MACIAS LEOBARDO et al. | European Patent Office | 2021

    Free access

    Human Body Simulation Within a Hybrid Operating Method for a Safe and Efficient Human-Robot Collaboration

    Lemmerz, Kai / Kuhlenötter, Bernd | Springer Verlag | 2022

    Free access

    Collaboration, Dialogue, Human-Robot Interaction

    Fong, Terrence / Thorpe, Charles / Baur, Charles | Springer Verlag | 2003


    Collaboration in Human-Robot Teams

    Hoffman, Guy / Breazeal, Cynthia | AIAA | 2004