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This paper presents a method for designing energy-aware collaboration tasksbetween humans and robots, and generating corresponding trajectories to carryout those tasks. The method involves using high-level specifications expressedas Signal Temporal Logic (STL) specifications to automatically synthesize taskassignments and trajectories. The focus is on a specific task where aMulti-Rotor Aerial Vehicle (MRAV) performs object handovers in a power linesetting. The motion planner takes into account constraints such as payloadcapacity and refilling, while ensuring that the generated trajectories arefeasible. The approach also allows users to specify robot behaviors thatprioritize human comfort, including ergonomics and user preferences. The methodis validated through numerical analyses in MATLAB and realistic Gazebosimulations in a mock-up scenario.

Ergonomic Collaboration between Humans and Robots: An Energy-Aware Signal Temporal Logic Perspective