Trustworthy Human-Robot Collaboration programming using a Gantt chart-based Domain-Specific Modeling Language

Programming human-robot collaboration (HRC) systems remains challenging for non-expert users. It often requires complex coding skills and provides limited visibility into robot behavior. We present the Robot Collaboration Language (RCL), a Gantt chart-based, domain-specific modeling language designed to facilitate intuitive and safe programming of collaborative tasks by non-experts. Using familiar Gantt chart representations, RCL aims to improve HRC programming transparency, predictability, and safety. We describe the language’s meta-model and implementation and demonstrate its use with an example. Our approach contributes to developing trustworthy HRC systems by simplifying the complexity of programming.