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Title: |
Whole-Body Task-Oriented Motion Planning for Human-Centered Robotics |
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Address: |
Herr Dr. Roland Philippsen
Apt 1
907 Fremont Place
US - Menlo Park, California, 94025 |
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Project Duration: |
7/1/2007 - 6/30/2009 |
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Funding Instrument: |
Individual Support: Fellowships
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Principal Applicant
Philippsen Roland
Stanford, California
» Details
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Research Institution
Department of Computer Science Stanford University
Stanford
» Details
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Primary Discipline(s)
Information Sciences
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service robotics, interweaving planning and control, task planning, Motion planning, human-centered robotics
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Laysummary:
Human-centered robotics investigates approaches for service robots in human environments for applications that include physical contact between autonomous machines and persons, in addition to manipulating objects originally intended for use by humans. The realization that socio-economic phenomena such as global aging will require innovative solutions in the near future, as well as recent scientific and technological advances, make human-centered robotics a very dynamic and interdisciplinary research field, ranging from mechatronic engineering and artificial intelligence to cognitive robotics and human-robot interaction design.
The three-year project "Whole-Body Task-Oriented Motion Planning for Human-Centered Robotics" aims to develop a system that plans, executes and supervises motions for mobile manipulators and humanoid robots that perform contact-based interaction with untrained humans. The system will simultaneously consider the motions of all limbs, allow for the inclusion of compliant behavior through impedance control, and adapt to changes in the environment while a plan is being executed. Compliant behavior refers to the ability of actively controlling the stiffness (or softness) of a robot's physical contact with the environment or a user. This is a prerequisite for successful and safe coexistence. It allows handling objects intended for human use and reduces the risk of injury when interacting with people.
For addressing user safety, we incorporate a dedicated supervision process across the levels of deliberation and execution. This process can trigger emergency actions and serves as an internal feedback mechanism for adapting to the changes in the environment. The planning and execution autonomy of the robot will stem from a combination of geometric and abstract elements, for tasks that can include force interactions and compliant motions.
Two key contributions will result from this project: a fusion of geometric and abstract elements in a motion planner, and the behavior template representation required to execute and supervise task execution using whole-body control. A theoretical framework will be defined, verified conceptually, tested in simulation, and implemented on robots for real-world experiments.
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