| Organisers | Aaron Pereira MEng, Andrea Giusti M. Sc., Esra Icer M. Sc., Prof. Dr-Ing. Matthias Althoff and Markus Koschi M. Sc. |
| Module | |
| Type | Master Practical Course |
| Semester | Summer 2017 |
| ECTS | 10.0 |
| SWS | 6 |
| 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 |
News
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
- Vorbesprechung.pdf: Preliminary Lecture
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)