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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.
Prerequisites
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 |
Material
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)
