How Long to Read A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration

How Long Does it Take to Read A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration?

It takes the average reader 3 hours and 33 minutes to read A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration by Min Wu

Assuming a reading speed of 250 words per minute. Learn more

Description

In recent years, researchers have achieved great success in guaranteeing safety in human-robot interaction, yielding a new generation of robots that can work with humans in close proximity, known as collaborative robots (cobots). However, due to the lack of ability to understand and coordinate with their human partners, the ``co'' in most cobots still refers to ``coexistence'' rather than ``collaboration''. This thesis aims to develop an adaptive learning and control framework with a novel physical and data-driven approach towards a real collaborative robot. The first part focuses on online human motion prediction. A comprehensive study on various motion prediction techniques is presented, including their scope of application, accuracy in different time scales, and implementation complexity. Based on this study, a hybrid approach that combines physically well-understood models with data-driven learning techniques is proposed and validated through a motion data set. The second part addresses interaction control in human-robot collaboration. An adaptive impedance control scheme with human reference estimation is presented. Reinforcement learning is used to find optimal control parameters to minimize a task-orient cost function without fully knowing the system dynamic. The proposed framework is experimentally validated through two benchmark applications for human-robot collaboration: object handover and cooperative object handling. Results show that the robot can provide reliable online human motion prediction, react early to human motion variation, make proactive contributions to physical collaborations, and behave compliantly in response to human forces.

How long is A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration?

A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration by Min Wu is 212 pages long, and a total of 53,424 words.

This makes it 72% the length of the average book. It also has 65% more words than the average book.

How Long Does it Take to Read A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration Aloud?

The average oral reading speed is 183 words per minute. This means it takes 4 hours and 51 minutes to read A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration aloud.

What Reading Level is A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration?

A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration is suitable for students ages 12 and up.

Note that there may be other factors that effect this rating besides length that are not factored in on this page. This may include things like complex language or sensitive topics not suitable for students of certain ages.

When deciding what to show young students always use your best judgement and consult a professional.

Where Can I Buy A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration?

A Hybrid Physical and Data-drivApproach to Motion Prediction and Control in Human-Robot Collaboration by Min Wu is sold by several retailers and bookshops. However, Read Time works with Amazon to provide an easier way to purchase books.

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