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HumRobManip

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Robotic Manipulation Planning for Human Robot Collaboration on Forceful Manufact...

Robotic Manipulation Planning for Human Robot Collaboration on Forceful Manufacturing Tasks This proposal addresses robotic manipulation planning for human-robot collaboration during manufacturing. My objective is to develop a planning framework which will enable a team of robots to grasp, move and position manufacturing... ver más

30/04/2019

UNIVLEEDS

195K€

Presupuesto del proyecto: 195K€

Líder del proyecto

UNIVERSITY OF LEEDS No se ha especificado una descripción o un objeto social para esta compañía.

TRL 4-5

Fecha límite participación Sin fecha límite de participación.

Financiación concedida El organismo H2020 notifico la concesión del proyecto el día 2019-04-30

MSCA-IF-2016: Individual Fellowships Objective:The goal of the Individual Fellowships is to enhance the creative and innovative potential...

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1 Participantes

UNIVLEEDS

195.45K€ | Lider

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Duración del proyecto: 25 meses Fecha Inicio: 2017-03-13
Fecha Fin: 2019-04-30

Líder del proyecto

UNIVERSITY OF LEEDS No se ha especificado una descripción o un objeto social para esta compañía.

TRL 4-5

Presupuesto del proyecto 195K€

Fecha límite de participación Sin fecha límite de participación.

Descripción del proyecto This proposal addresses robotic manipulation planning for human-robot collaboration during manufacturing. My objective is to develop a planning framework which will enable a team of robots to grasp, move and position manufacturing parts (e.g. planks of wood) such that a human can execute sequential forceful manufacturing operations (e.g. drilling, cutting) to build a product (e.g. a wooden table). The overall objective is divided into three components: First, I will develop a planning algorithm which, given the description of a manufacturing task, plans the actions of all robots in a human-robot team to perform the task. Second, I will develop probabilistic models of human interaction to be used by the planner. This model will include (i) an action model that assigns probabilities to different manufacturing operations (e.g. drilling a hole vs. cutting a piece off) as the next actions the human intends to do; (ii) a geometric model that assigns probabilities to human body postures; and (iii) a force model that assigns probabilities to force vectors as the predicted operational forces. Third, I will build a real robotic system to perform experiments and test my algorithm's capabilities. This system will consist of at least three robot manipulators. This fellowship will enable me to add a completely new human dimension to my planning research. I will work with Prof. Tony Cohn (supervisor) who is a world-leading expert in human activity recognition and prediction - a critical skill for the human-robot collaboration problem I intend to solve. From him and his group, I will receive training on tracking/predicting human posture and recognizing/predicting human activities using vision and point-cloud data. I will then integrate these tracking and prediction methods into a robotic planning framework to enable human-robot collaborative operations. This fellowship will help me to attain a permanent academic position and to become a leading researcher in robotic manipulation.

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