A New Virtual Human Model Based on AR-601M Humanoid Robot for a Collaborative HRI Simulation in the Gazebo Environment

Human-robot collaboration (HRC) involves a cooperative and combined work of humans and robots to achieve specific goals. Collaborative robots provide additional support to humans by automating arduous tasks. This enhances efficiency, quality, and optimization of production processes. Prior to conducting real-world experiments, it is crucial to verify a collaboration safety through a simulation. In this paper, we explore a potential of simulating HRC in the Gazebo simulator by using an anthropomorphic robot AR-601M model as a human model and propose key requirements for a human virtual model. Our findings contribute to the development of safe and efficient HRC systems.