论文标题
通过整体人类感知和合作伙伴意识控制启用人类机器人的合作
Enabling Human-Robot Collaboration via Holistic Human Perception and Partner-Aware Control
论文作者
论文摘要
随着机器人技术的发展，人类和机器人共存的障碍正在逐渐下降。老年护理，协作制造，协作操作等等应用领域被认为需要时小时，而机器人技术的进展具有应对许多社会挑战的潜力。未来的社会技术系统构成了混合劳动力的，人类与机器人合作伙伴之间的共生关系是合作的。该论文试图解决实现人类机器人协作的一些研究挑战。特别是，对人类伴侣的整体看法的挑战，要与机器人合作伙伴实时持续交流和需求的挑战对于成功实现协作任务至关重要。为此，我们提出了一个整体人类感知框架，用于实时监测全身运动和动态。另一方面，利用人类伴侣的援助的挑战将导致改善人类机器人的合作。在这个方向上，我们尝试有条不紊地定义人类合作伙伴的帮助，并提出合作伙伴意识到的机器人控制策略，以赋予机器人有意义地从事协作任务的能力。
As robotic technology advances, the barriers to the coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, collaborative manipulation, etc., are considered the need of the hour, and progress in robotics holds the potential to address many societal challenges. The future socio-technical systems constitute of blended workforce with a symbiotic relationship between human and robot partners working collaboratively. This thesis attempts to address some of the research challenges in enabling human-robot collaboration. In particular, the challenge of a holistic perception of a human partner to continuously communicate his intentions and needs in real-time to a robot partner is crucial for the successful realization of a collaborative task. Towards that end, we present a holistic human perception framework for real-time monitoring of whole-body human motion and dynamics. On the other hand, the challenge of leveraging assistance from a human partner will lead to improved human-robot collaboration. In this direction, we attempt at methodically defining what constitutes assistance from a human partner and propose partner-aware robot control strategies to endow robots with the capacity to meaningfully engage in a collaborative task.
