H2020Индивидуална стипендия2018–2020

Predict-Plan-Control · Integrating robotic control and planning with human activity prediction for efficient human robot collaboration

„Хоризонт 2020“ — Действия „Мария Склодовска-Кюри“

Период: 2018-05-01 → 2020-04-30
Финансиране от ЕС: 183 455 €
Участници: 1
Схема: MSCA-IF-EF-ST

Линиите свързват координатора с партньорите.

Накратко на български

Интелигентни роботи се разработват да предвиждат човешките движения, за да помагат при тежки задачи, например чрез споделяне на тежестта на предмет. Това помага за намаляване на физическото натоварване и рискът от трудови контузии в индустрията.

Този кратък обзор е генериран от изкуствен интелект

Кратко обяснение, генерирано от езиков модел по текста на CORDIS. Оригиналът е по-долу.

Резултати накратко

Integrating robotic control and planning with human activity prediction for efficient human robot collaboration

Despite recent advances in robotics technologies, robots are still rarely thought of being physically engaging with humans and efficient physical human-robot collaboration (pHRC) is one of the key open challenges in robotics research. For autonomously interacting with humans, robots need better decision-making capabilities which are hindered by the lack of a reliable assessment and understanding of human physical capabilities, ergonomics, and what is considered to be comfortable and safe. This understanding is crucial to any intelligent system that aims to either predict/analyze human movement or to leverage human’s response to physical collaborative actions. This project addressed exactly this problem. More specifically, this project focused on building intelligent robots able of helping humans to perform complex, risk or tedious tasks in a safe and comfortable manner. One can imagine a friendly robot that smoothly moves and regrasps a shared board during a DIY task to reduce your muscular load (and the chance of muscular stress), postural ergonomics, safety-perception and overall human-robot collaborative comfort experience. The success of this project can lead to reduced muscular load, and consequently lower incidence of musculoskeletal strains (which are the largest cause of work-related injuries in many industrial countries) and boost intelligent manufacturing in the UK and Europe. Finally, the interdisciplinary research taken throughout this project has an enormous potential in producing biological inspired robot applications (e.g., improving service robots, robot-based and teleoperation-based rehabilitation) and improve the understanding of human musculoskeletal response in daily forceful activities.

Текст от CORDIS, на английски · Данни: CORDIS, © Европейски съюз

Цел на проекта

In this project, I will develop a robotic planning and control system that performs human-robot collaborative manipulation tasks. The system will enable robots to help a human perform continuous forceful operations on a workpiece---grasping and moving the piece in coordination, in a way that is efficient and comfortable for both the human and the robot. This requires a novel integrated approach involving three components: control, human-interaction, and grasp planning. First, I will develop a cooperative controller that, in addition to responding to human motion and forces, can also explore freedoms natural to a given task, e.g. continuous grasp regions on objects. Second, I will develop probabilistic models for human motion, forces and comfort during interaction with robots. These models will inform the controller about human intentions and needs. Third, I will develop a grasp planner that can evaluate how effective a certain grasp is for the progress of the rest of the task. Such a capable human-robot collaborative manipulation system, integrating control, human-interaction, and grasp planning, is completely novel and does not yet exist anywhere else to the best of my knowledge. The multidisciplinary character of this project will provide me with a unique set of expertise complementing my previous knowledge in cooperative robot control with new skills in human activity prediction and grasp planning. I will be working with Prof. Cohn, an expert in human activity recognition and prediction, and Dr Dogar, an expert in robotic planning. This fellowship will enable the transfer of knowledge between their group and me through hands-on collaborative work and mutual training. It will strengthen my professional reputation and skill set, help me become a world-leading expert in human-robot collaborative manipulation, and will be a critical stepping stone in my career plan to attain a permanent academic position at a leading institution.

Оригинален текст от CORDIS (на английски).

Участници

UNIVERSITY OF LEEDS · LeedsКоординаторОбединеното кралство