A Risk-aware Model for Task Planning in HRC

In this paper we propose a novel risk-aware model for human-robot coordination considering the main risk factors highlighted in international robotic standards. Namely, we propose to include multiple risk factors into a task sequencing model and use it for realizing a risk-aware task sequencing system based on a cutting-edge task planning framework. To assess our approach, we consider a realistic use case and evaluates the deployment of the task planner across various scenarios to show its efficacy and adaptability to diverse risk levels. Experimental results show a positive equilibrium between productivity and safety, achieving both high throughput and low operator risk.