A human-robot collaborative assembly framework with quality checking based on real-time dual-hand action segmentation

Hao Zheng, Wanqing Xia, Xun Xu

Abstract: Highlights•A human-robot collaborative assembly framework with quality checking is proposed.•DuHa-v2, a real-time dual-hand action segmentation algorithm, is proposed.•An adaptive robot assistance planning method is designed.•An in-process and just-in-time quality checking method is developed.•The effectiveness of the proposed framework is validated through a case study.