As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of the hour, and progress in robotics holds the potential to address many societal challenges. The future socio-technical systems constitute of blended workforce with a symbiotic relationship between human and robot partners working collaboratively. This thesis attempts to address some of the research challenges in enabling human-robot collaboration. In particular, the challenge of a holistic perception of a human partner to continuously communicate his intentions and needs in real-time to a robot partner is crucial for the successful realization of a collaborative task. Towards that end, we present a holistic human perception framework for real-time monitoring of whole-body human motion and dynamics. On the other hand, the challenge of leveraging assistance from a human partner will lead to improved human-robot collaboration. In this direction, we attempt at methodically defining what constitutes assistance from a human partner and propose partner-aware robot control strategies to endow robots with the capacity to meaningfully engage in a collaborative task.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Enabling Human-Robot Collaboration via Holistic Human Perception and Partner-Aware Control



    Erscheinungsdatum :

    2020-04-15


    Anmerkungen:

    doi:10.15167/tirupachuri-venkata-sai-yeshasvi_phd2020-04-15



    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Emotion-Aware Control Framework for Human-Robot Collaboration

    Pupa, Andrea / Varrecchia, Raffaele / Secchi, Cristian | Springer Verlag | 2024


    Context-aware human-robot collaboration in assembly

    Liu, Hongyi | BASE | 2020

    Freier Zugriff

    Vision-Based Holistic Scene Understanding for Context-Aware Human-Robot Interaction

    Giorgio De Magistris / Riccardo Caprari / Giulia Castro et al. | BASE | 2022

    Freier Zugriff

    A Safety-Aware Kinodynamic Architecture for Human-Robot Collaboration

    Pupa, Andrea / Arrfou, Mohammad / Andreoni, Gildo et al. | BASE | 2021

    Freier Zugriff

    HUMAN-ROBOT COLLABORATION

    FELIP LEON JAVIER / AHUJA NILESH / CAMPOS MACIAS LEOBARDO et al. | Europäisches Patentamt | 2021

    Freier Zugriff