Study the locks imposed by the development of a Cobotique with an industrial vocation and oriented second work in building - The configuration of the workspace: both geometrically (dimensions, free space) and "semantic" (crossable spaces, content in terms of objects with the locations of these last, resources available according to the places, workable tasks, etc.). [cf "automatic identification of structuring elements" in the scientific roadmap]. - The location of the various stakeholders present in this workspace, whether humans or other Cobots. [cf "Identification and consideration of humans near the machine" in the scientific roadmap] - Knowledge of the potential contributions of each of these actors in the context of a collaborative task (involved in the coordination of actions, the solicitation of help or the proposal of a "help", for example). - Recognition of ongoing actions, in particular those carried out by humans, this ability being involved in terms of coordination and even programming insofar as "programming by example" approaches are envisaged.