Enabling human-robot collaboration in unstructured construction environment through sharing control: Classification, Challenges, and Future Trends

摘要

Robots hold great potential for enhancing efficiency, quality, and safety in construction, yet the unstructured and dynamic nature of construction sites limits the feasibility of full automation.Human-robot collaboration (HRC) offers a solution by integrating human expertise with robotic precision to improve adaptability.However, there remains a significant gap in understanding the systematic integration of human and robotic intelligence, particularly in dynamic control sharing.This study addresses this gap through a systematic review of shared control in HRC within unstructured environments, reflecting on its application to construction.A two-layer classification framework is proposed, encompassing "human-in-the-loop" (HITL) and "human-on-the-loop" (HOTL) systems, further divided into five subcategories.Key challenges and future research directions are also identified, providing actionable insights for designing and optimizing HRC systems in complex construction scenarios.