Technische Universität München Robotics and Embedded Systems

Safe Human-Robot Co-Existence

Organisers Aaron Pereira MEng, Andrea Giusti M. Sc., Esra Icer M. Sc., Prof. Dr-Ing. Matthias Althoff and Markus Koschi M. Sc.
Type Master Practical Course
Semester Summer 2017
ECTS 10.0
Preliminary Talk Friday 3rd February at 11.00, in MI 03.07.011
Time and Location to be announced
Participation Matching system + meeting with advisor


Learning Outcomes

This course aims to introduce you, through hands-on projects, to current problems in safe human-robot co-existence (HRC). You will mainly work on a project throughout the semester and also be guided by lectures and discussions on themes within safe HRC . You will write and present a term paper of your work at the end of the course.


You should be self-motivated, creative and able to work as part of a team. You should be familiar with robotics (e.g. have taken a course on robotics or have practical experience). Furthermore, you should ideally have experience with one of the following:

1. Matlab/Simulink

2. VRep

and preferably have had some knowledge in one or more of the following:

1. Motion planning

2. Cyber-physical Systems

3. User studies

4. Dynamics

Available topics:

Topic Student
Online replanning based on human intention recognition taken
User study of different human-aware robot behaviours taken
Comparison of online verification with static safety zones taken
On the fly adaptation of robot safety algorithm to different kinematics on a modular robot taken
Human robot cooperation in car manufacturing: acquisition and replication of a demonstrated path taken
Scaling trajectories to avoid actuator saturation given uncertain dynamics taken
Implementation and Comparison of the State of the Art Path Planning Algorithms taken
Implementation of online trajectory planning methods taken


Useful literature and links

For projects 1-4: Hadaddin et al.: Collision Detection and Reaction: A Contribution to Safe Physical Human-Robot Interaction (IROS, 2008) Zanchettin et al.: Safety in Human-Robot Collaborative Manufacturing Environments: Metrics and Control (T-ASE, 2016) Mainprice & Berenson: Motion planning for human-robot collaborative manipulation tasks using prediction of human motion (RSS, 2014) Pereira & Althoff: Overapproximative arm occupancy prediction for human-robot co-existence built from archetypal movements (IROS, 2016)

For project 5: Giusti and Althoff: Automatic centralized controller design for modular and reconfigurable robot manipulators. (IROS, 2015)

For project 6: Siciliano et. al. Robotics: Modelling, Planning and Control. Springer, 2009. Section 7.7 Hollerbach: Dynamic Scaling of Manipulator Trajectories (J. Dyn. Sys. Meas. 1984)