How to Formally Model Human in Collaborative Robotics

TL;DR

This paper reviews formal modeling techniques for human behavior in collaborative robotics to enhance safety analysis, emphasizing the importance of realistic human models for effective verification.

Contribution

It evaluates current modeling approaches for humans in HRC, identifying suitable methods for safety-critical applications.

Findings

Formal models can improve safety verification in HRC.

Realistic human behavior models are essential for effective safety analysis.

Current solutions vary in suitability for different HRC scenarios.

Abstract

Human-robot collaboration (HRC) is an emerging trend of robotics that promotes the co-presence and cooperation of humans and robots in common workspaces. Physical vicinity and interaction between humans and robots, combined with the uncertainty of human behaviour, could lead to undesired situations where humans are injured. Thus, safety is a priority for HRC applications. Safety analysis via formal modelling and verification techniques could considerably avoid dangerous consequences, but only if the models of HRC systems are comprehensive and realistic, which requires reasonably realistic models of human behaviour. This paper explores state-of-the-art solutions for modelling human and discusses which ones are suitable for HRC scenarios.