Enabling Human-Robot Collaboration via Holistic Human Perception and Partner-Aware Control

• DOI: 10.48550/arxiv.2004.10847
• Publication Date: 2020-01-01
• Authors: Yeshasvi Tirupachuri
• Keywords: Human–robot interaction

As robotic technology advances, the barriers to coexistence of humans and robots are slowly coming down. Application domains like elderly care, collaborative manufacturing, manipulation, etc., considered need hour, progress in robotics holds potential address many societal challenges. The future socio-technical systems constitute blended workforce with a symbiotic relationship between human robot partners working collaboratively. This thesis attempts some research challenges enabling human-robot collaboration. In particular, challenge holistic perception partner continuously communicate his intentions needs real-time is crucial for successful realization task. Towards that end, we present framework monitoring whole-body motion dynamics. On other hand, leveraging assistance from will lead improved this direction, attempt at methodically defining what constitutes propose partner-aware control strategies endow capacity meaningfully engage