Optimizing Task Allocation in Human-in-the-Lead Construction Robotics: A Framework for Wood Assembly–Based Robotics in Panelized Construction

摘要

Existing human–robot collaboration (HRC) research often overemphasizes an equal partnership, which can hinder the effective integration of robots in the dynamic environment of industrialized construction (IC). This paper introduces a Human-in-the-Lead Construction Robotics (HiLCR) framework that prioritizes human leadership. By leveraging humans’ ability to handle IC complexities, including customized designs and material variability, HiLCR optimizes task allocation. The proposed two-level framework utilizes design- and task-driven parametric and tolerance analysis. This framework divides tasks into three categories by conducting a parametric analysis (first level) to link design parameters with prefabrication tasks, and a tolerance analysis (second level) using Monte Carlo simulations accounts for material variability, particularly in natural wood assemblies. The results of the tolerance analysis further subdivide tasks into automated and guided standard procedures. The task allocation of 96 standardized IC activities resulted in 65 repetitive procedures automated for robots and 31 guided and dynamic procedures assigned to human workers. Human procedures encompassed all tasks requiring decision-making for fine-tuning assembly, whereas robot procedures included physically demanding (e.g., pick-up) and hazardous operations (e.g., nailing and cutting).