Fabio Fusaro

Istituto Italiano di Tecnologia | IIT · Department of Advanced Robotics

By incorporating ergonomics principles into the task allocation processes, human-robot collaboration (HRC) frameworks can favour the prevention of work-related musculoskeletal disorders (WMSDs). In this context, existing offline methodologies do not account for the variability of human actions and states; therefore, planning and dynamically assigni...

The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are able to manage large heterogeneous teams and, at the same time, monitor the execution of complex tasks. In this paper, we present a novel architecture for dynamic role al...

This paper proposes a novel integrated dynamic method based on Behavior Trees for planning and allocating tasks in mixed human robot teams, suitable for manufacturing environments. The Behavior Tree formulation allows encoding a single job as a compound of different tasks with temporal and logic constraints. In this way, instead of the well-studied...

This paper proposes a novel human-aware method that generates robot plans for autonomous and human-robot cooperative tasks in industrial environments. We modify the standard Behavior Trees (BTs) formulation in order to take into account the action-related costs, and design suitable metrics and cost functions to account for the cooperation with a wo...

In this work, we propose a novel visuo-haptic guidance interface to enable mobile collaborative robots to follow human instructions in a way understandable by non-experts. The interface is composed of a haptic admittance module and a human visual tracking module. The haptic guidance enables an individual to guide the robot end-effector in the works...

This paper proposes a novel loco-manipulation control framework for the execution of complex tasks with kinodynamic constraints using mobile manipulators. As a representative example, we consider the handling and re-positioning of pallet jacks (or lifts/carriers with similar characteristics) in unstructured environments. This task is associated wit...

This paper presents a proof of concept for a syn-ergistic framework for human-robot coexistance and collaboration (HRC 2). By exploiting the loco-manipulation potential of our recently developed MObile Collaborative robotic Assistant (MOCA), we developed a novel framework that distinguishes and suitably reacts to coexisting and collaborative human...