Advancing Human-Robot Collaboration in Construction Structural Assembly through Task Optimization and Augmented Reality Assistance

This study investigates the technological barriers in robotic structural assembly and emphasizes the role of human–robot collaboration (HRC) in overcoming them. An HRC task planning framework is proposed, including a task classification system, bundling optimization, and allocation and sequencing algorithms, to coordinate human and robot tasks. Augmented reality (AR)-based assistance is also developed to assist human workers with task execution, while providing robot motion previews. A laboratory experiment compares the AR assistance with a traditional paper-based method to evaluate its effectiveness.