| Title: |
Reactive motion planning for robotic manipulators and interaction control with deformable environment: application to physical human-assistive tasks ; Διαδραστικός σχεδιασμός κίνησης ρομποτικών χειριστών και έλεγχος αλληλεπίδρασης με παραμορφώσιμο περιβάλλον: εφαρμογή φυσικής υποβοήθησης του ανθρώπου |
| Authors: |
Dometios, Athanasios; Δομέτιος, Αθανάσιος |
| Publisher Information: |
National Technical University of Athens (NTUA); Εθνικό Μετσόβιο Πολυτεχνείο (ΕΜΠ) |
| Publication Year: |
2021 |
| Collection: |
National Archive of PhD Theses (National Documentation Centre Greece) |
| Subject Terms: |
Ρομποτική; Ρομποτική υποβοήθησης; Φυσική αλληλεπίδραση ανθρώπου - ρομπότ; Σχεδιασμός ρομποτικής κίνησης; Έλεγχος αλληλεπίδρασης; Robotics; Assistive robots; Human-robot physical interaction; Motion planning; Interaction control; Επιστήμη Ηλεκτρολόγου Μηχανικού; Ηλεκτρονικού Μηχανικού; Μηχανικού Η/Υ; Επιστήμες Μηχανικού και Τεχνολογία; Electrical Engineering; Electronic Engineering; Information Engineering; Engineering and Technology |
| Description: |
Natural human-robot physical interaction has a key role in the acceptance of robotic applications in everyday life. Especially in the case of applications for the care and assistance of people with mobility or other impairments, the functional requirement of physical contact between humans and robots is one of the key factors that determine the safety of the robotic system. Such human-robot interaction applications require an interactive motionplanning system based on a continuous monitoring of the human condition, in order to achieve a completely safe and continuously adaptable robotic motion and task planning.Towards this end, this dissertation deals with reactive adaptation and motion generation of human demonstrated interactive tasks with deformable surfaces, such as those of the human body parts. Particularly, in the first part of this thesis, and in the context of a broader research effort aimed at building a flexible robotic bath mechanism, a motion planning algorithm was developed, which uses the visual feedback from a depth camera and the corresponding scene perception information, in order to adapt predefined, time scalable trajectories on curved and deformable surfaces, such as the human body parts, with simultaneous avoidance of obstacle areas, such as injuries. The adaptation is achieved with the establishment of bijective transformations, which reformulate the tracking problem to a 2D Canonical Space. Accurate trajectory tracking is then realized with a Navigation Function (NF) controller with proven globally uniformly asymptotic convergence. The proposed algorithm was tested both in lab conditions and in a real clinical environment with elderly users in both dry and humid conditions. A clinical validation study was conducted, which focused on the acceptance and operation aspects of such a complex system by elderly users.In the next phase of the thesis, an integrated system based on Dynamic Motion Primitives (DMP) approach is proposed, which can learn and encode demonstrated washing actions by ... |
| Document Type: |
doctoral or postdoctoral thesis |
| Language: |
English |
| Relation: |
https://hdl.handle.net/10442/hedi/49541 |
| DOI: |
10.12681/eadd/49541 |
| Availability: |
https://hdl.handle.net/10442/hedi/49541; https://doi.org/10.12681/eadd/49541 |
| Rights: |
BY_NC_SA_4_0 |
| Accession Number: |
edsbas.E5FE6475 |
| Database: |
BASE |