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Human-Robot Interaction

Lehrstuhl: Elastic Lightweight Robotics Group

Betreuer: Rodrigo J. Velasco-Guillen, Maximilian Krämer,

Beginn ab: 07.10.2019

Maximale Anzahl der Teilnehmer: 6

Beschreibung: Human-Robot Interaction (HRI) has gained importance over the years. When human and robot collaborate, they complement each other’s abilities. The cognitive skills of humans combined with the assistance of robots allow for the execution of complex tasks. However, acceptable levels of safety and reliability should be met in this interaction. The objective of this project is to investigate and develop systems that allow safe and reliable interaction in robotics.

Three major tasks will be carried out in this project:

TASK 1: Wireless sensor integration and control of a robotic gripper
TASK 2: Modeling and control of an electromechanical system with elastic transmission
TASK 3: Teleoperation of a robotic manipulator

TASK 1
Wireless sensing and control allow for more versatility and transportability, making it possible to design robotic systems that interact with humans without the necessity of cables that could obstruct motion or limit the operating range. A wireless sensor integration will be carried out using Raspberry Pi. Tactile sensors will be attached to a robotic gripper and interfaced with Matlab/Simulink and/or the Robot Operating System (ROS) for the control of the gripper.

Subtasks:
- Setup wireless sensor communication
- Hardware integration of tactile sensors
- Control gripper through haptic interaction

TASK 2
Elastic actuation has many advantages for robotics, particularly regarding human safety and efficiency. Human safety is supported by the deformation of an elastic element in case of contact, while energy consumption can be reduced by exploiting the natural dynamics of the system. In this task, an electromechanical system with elastic transmission will be modeled and controlled. The system consists of a motor drive and a load connected through a series of mechanical transmission elements with elasticity.

Subtasks:
- Modeling of system dynamics
- Implementation of control strategies
- Evaluation of controllers in simulation and experimentation


TASK 3
Teleoperation of robotic manipulators allows for precise motion control and efficient teaching, while ensuring safety by spatially separating the user from dangerous environments. Making use of Motion Capture (MoCap) and a trackable navigation controller, the end effector of an industrial robotic manipulator will be teleoperated by mimicking the motion performed with the controller.

Subtasks:
- Integrate navigation controller to MoCap system
- Program end-effector mimic function on the UR10 using ROS



Requirements for participation (but not limited to):
- Background in Robotics, ROS, Instrumentation and Control Theory
- Programming experience in C++/ Python and Matlab/Simulink


 

Die Projektgruppe findet statt!

Teilnehmer: 214469, 180853, 178659, 214737, 214629, 214226,