Planning Ergonomic Sequences of Actions in Human-Robot Interaction

In this paper, we define the problem of humanrobot collaboration as a combined task and motion planning problem which is extended to the multi-agent case (human and robot). Our proposed approach allows us to explicitly take into account ergonomic cost, synchrony and concurrency of behavior in an optimization formulation. We show simulated results as well as an experiment with a real robot combined with a user study. Results show that optimizing over a sequence of actions leads to more ergonomic situations.