Robot programming system for human-robot cooperation and collaboration

The paper proposes an approach for a programming system for human-robot cooperation or collaboration. Within the cooperation, human and robot both execute their own tasks, whereas the tasks partly depend on each other. In order to represent the dependencies, an activity recognition observes the human's tasks and transfers this information to the robot control. The collaborative task is a hand guiding task. In both cases, the robot program is generated by a programming module, which however distinguishes between cooperative and collaborative task.