A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration

A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration
Author :
Publisher : Logos Verlag Berlin GmbH
Total Pages : 212
Release :
ISBN-10 : 9783832554842
ISBN-13 : 383255484X
Rating : 4/5 (84X Downloads)

Book Synopsis A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration by : Min Wu

Download or read book A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration written by Min Wu and published by Logos Verlag Berlin GmbH. This book was released on 2022-06-14 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.


A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration Related Books

A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration
Language: en
Pages: 212
Authors: Min Wu
Categories: Technology & Engineering
Type: BOOK - Published: 2022-06-14 - Publisher: Logos Verlag Berlin GmbH

GET EBOOK

In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work wi
Distributed Optimisation for Multi-Robot Cooperative Manipulation Control in Dynamic Environments
Language: en
Pages: 188
Authors: Yanhao He
Categories: Technology & Engineering
Type: BOOK - Published: 2022-12-15 - Publisher: Logos Verlag Berlin GmbH

GET EBOOK

Since the manipulation tasks for robotic systems become more and more complicated, multi-robot cooperation has been attracting much attention recently. Furtherm
Human-in-the-Loop Robot Control and Learning
Language: en
Pages: 229
Authors: Luka Peternel
Categories:
Type: BOOK - Published: 2020-01-22 - Publisher: Frontiers Media SA

GET EBOOK

In the past years there has been considerable effort to move robots from industrial environments to our daily lives where they can collaborate and interact with
Advances in Computational Intelligence Systems
Language: en
Pages: 556
Authors: Zhaojie Ju
Categories: Technology & Engineering
Type: BOOK - Published: 2019-08-29 - Publisher: Springer Nature

GET EBOOK

This book highlights the latest research in computational intelligence and its applications. It covers both conventional and trending approaches in individual c
Trends in Control and Decision-Making for Human–Robot Collaboration Systems
Language: en
Pages: 418
Authors: Yue Wang
Categories: Technology & Engineering
Type: BOOK - Published: 2017-01-24 - Publisher: Springer

GET EBOOK

This book provides an overview of recent research developments in the automation and control of robotic systems that collaborate with humans. A measure of human