Preface

Humanoid and collaborative robots are being developed to achieve broader and higher-level cooperation with humans. It is expected that more effective functional coexistence between humans and high-level robots will be achieved, especially in Industry 4.0 and its respective pillars.

This interaction between cobots, humanoid robots, and humans will become increasingly natural for the end customer, both at the industrial and domestic levels. Both humanoid and collaborative robots will increasingly develop cooperative capabilities in specifically designed environments.

With artificial intelligence (AI) being one of the main pillars of Industry 4.0, humanoid robots and cobots are expected to become increasingly capable of predicting the emotions, facial expressions, and gestures that humans typically make when performing collaborative work.

AI and machine learning will hopefully learn and process larger amounts of data. This increased processing of large volumes of data forces humans to rethink what is and what is not unique to humans. All the conjecture and speculations of the past regarding technological advances show us that we have to rethink all our preconceived ideas about humanoid robots, cobots, and AI, as this disruptive technology is changing all our technological concepts.

With Industry 4.0 there are new challenges in the production chain, as workers must actively collaborate with humanoid robots and cobots in an environment connected by 5G networks. Similarly, workers will have to be prepared to use body equipment and wearable devices to improve their safety. In addition, technological training will be a priority to work in this industry, since AI will be a fundamental part of both the production chain and management.

Some of the pillars of the intelligent industry include safety, AI, and the personalization of products and services. Humanoid robots, collaborative robots, and robotic wearables will be increasingly intelligent with a great increase in machine learning both in the production chain and at the domestic level.

Given the importance of AI, security, and personalization, perhaps the entire economic model will have to change to a more sustainable model. Therefore, it will be a priority to integrate the production chain of a smart industry with a circular economy model to minimize the negative impact on our planet.

Regarding human-robot interaction, humanoid robots, and cooperative robotics, we can observe a disruptive change at the technological level, especially at the level of industrial safety. The use of collaborative robots, humanoid robots, and robotic wearables allows more efficient production systems in human-robot interaction, thinking about the development of different daily tasks both in an industrial plant and at a domestic level.

**II**

**Chapter 8 129**

**Chapter 9 147**

**Chapter 10 159**

Safe Adaptive Trajectory Tracking Control of Robot for Human-Robot

Optimization Based Dynamic Human Motion Prediction with Modular Exoskeleton Robots as Interactive Forces: The Case of Weight Lifting Motion

Interaction Using Barrier Function Transformation *by Iman Salehi, Ghananeel Rotithor and Ashwin Dani*

Tiny Blind Assistive Humanoid Robot *by Amrita Ganguly and Bijan Paul*

*by Hyun-Joon Chung*

The role of the human being in a smart factory is changing rapidly. Human workers must adapt to these new systems by acquiring and improving their skillsets. Therefore, it is important to equip them with new skills in disruptive technologies that will give them the necessary tools to work with collaborative robots, humanoid robots, and robotic wearables. For this, it is necessary to update the entire training model and the academic programs of different institutions focused on the teaching-learning process.

The concept of collaboration in the industry is fundamental as it integrates a group of people and robots (specialists, experts, or connoisseurs) performing an activity jointly, decentralized, and simultaneously to achieve a common goal. This concept must be constantly evaluated objectively, always taking into account the technological changes that are being generated at the level of innovation and research. Some of the advantages of the collaborative concept include:


Some detractors of disruptive technologies may think that robotics will put people out of work, increasing unemployment and causing a greater economic and social crisis. Perhaps the new technological models demand a change in the methods of production, education, training, and so on. It is important to mention that the relationships between humans and machines as well as between humans themselves will inevitably change. In addition, it will be necessary to migrate to a circular economy model, different from the linear economy model, which is not sustainable with the environment.

This book is the result of the work of people dedicated to research, academics, and applied industry. It is a useful resource for those readers interested in new contributions in robotics and related fields.

> **Jesús Hamilton Ortiz, Ph.D.** Closemobile R&D, and UNAD, Madrid, Spain

> > **Ramana Kumar Vinjamuri** University of Maryland, Baltimore County, USA

> > > **1**

Section 1

Collaborative Robots

Section 1
