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Volume 13
Issue 7
10.3390/robotics13070107
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Article

Human–Robot Collaborative Manufacturing Cell with Learning-Based Interaction Abilities

by
Joel Baptista
1,
Afonso Castro
1,
Manuel Gomes
1,
Pedro Amaral
2,
Vítor Santos
1,
Filipe Silva
2,* and
Miguel Oliveira
1
1
Department of Mechanical Engineering (DEM), Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal
2
Department of Electronics, Telecommunications and Informatics (DETI), Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal
*
Author to whom correspondence should be addressed.
Robotics 2024, 13(7), 107; https://doi.org/10.3390/robotics13070107
Submission received: 31 May 2024 / Revised: 9 July 2024 / Accepted: 11 July 2024 / Published: 17 July 2024
(This article belongs to the Section Industrial Robots and Automation)
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Abstract

This paper presents a collaborative manufacturing cell implemented in a laboratory setting, focusing on developing learning-based interaction abilities to enhance versatility and ease of use. The key components of the system include 3D real-time volumetric monitoring for safety, visual recognition of hand gestures for human-to-robot communication, classification of physical-contact-based interaction primitives during handover operations, and detection of hand–object interactions to anticipate human intentions. Due to the nature and complexity of perception, deep-learning-based techniques were used to enhance robustness and adaptability. The main components are integrated in a system containing multiple functionalities, coordinated through a dedicated state machine. This ensures appropriate actions and reactions based on events, enabling the execution of specific modules to complete a given multi-step task. An ROS-based architecture supports the software infrastructure among sensor interfacing, data processing, and robot and gripper controllers nodes. The result is demonstrated by a functional use case that involves multiple tasks and behaviors, paving the way for the deployment of more advanced collaborative cells in manufacturing contexts.
Keywords: collaborative robotics; manufacturing cell; interaction abilities; volumetric detection; intention anticipation; learning-based algorithms collaborative robotics; manufacturing cell; interaction abilities; volumetric detection; intention anticipation; learning-based algorithms

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MDPI and ACS Style

Baptista, J.; Castro, A.; Gomes, M.; Amaral, P.; Santos, V.; Silva, F.; Oliveira, M. Human–Robot Collaborative Manufacturing Cell with Learning-Based Interaction Abilities. Robotics 2024, 13, 107. https://doi.org/10.3390/robotics13070107

AMA Style

Baptista J, Castro A, Gomes M, Amaral P, Santos V, Silva F, Oliveira M. Human–Robot Collaborative Manufacturing Cell with Learning-Based Interaction Abilities. Robotics. 2024; 13(7):107. https://doi.org/10.3390/robotics13070107

Chicago/Turabian Style

Baptista, Joel, Afonso Castro, Manuel Gomes, Pedro Amaral, Vítor Santos, Filipe Silva, and Miguel Oliveira. 2024. "Human–Robot Collaborative Manufacturing Cell with Learning-Based Interaction Abilities" Robotics 13, no. 7: 107. https://doi.org/10.3390/robotics13070107

APA Style

Baptista, J., Castro, A., Gomes, M., Amaral, P., Santos, V., Silva, F., & Oliveira, M. (2024). Human–Robot Collaborative Manufacturing Cell with Learning-Based Interaction Abilities. Robotics, 13(7), 107. https://doi.org/10.3390/robotics13070107

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