TIMING CONTROLLER FOR HUMAN-ROBOT OBJECT HANDOVER: IMPLEMENTATION AND EVALUATION

This work compares two controllers for human-robot object handovers. The proposed Timing controller allows users to specify timing parameters for the handover and computes velocity control using Model Predictive Control (MPC). This controller provides feedback if it cannot satisfy those constraints, which can be used to better tune the controller. We implemented the controller on a collaborative robot with two objective functions: minimum cumulative jerk (MCJ) and minimum cumulative error (MCE). For each, we conducted a user study to compare it with a baseline Proportional Velocity (PV) controller. Users specified the controller parameters and performed handovers with the robot using both controllers. We found that the timing controller with the MCE implementation can provide better user experience and fewer failures compared to the PV controller. Our findings could help towards the design of better controllers for Human-Robot handovers.

Name thesis:degree_name

M.S., Mechanical Engineering

Level thesis:degree_level

Master of Science

Discipline thesis:degree_discipline

Mechanical Engineering

Grantor

Cornell University

Year dc:date.issued

2021

Author dc:creator

• Ravi, Rahul Kumar

Committee member dc:contributor.committeemember

• Hoffman, Guy

Language dc:language.iso

en

DOI

https://doi.org/10.7298/8rw9-6065

Dc Identifier Other

ProQuest Submission ID: 11359
ProQuest Publication ID: 28861191

OAI identifier oai:identifier

oai:ecommons.cornell.edu:1813/110769