DTA

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Tesi etd-11112020-125044

Type of thesis
Corsi integrativi di II livello
Author
IORI, FRANCESCO
URN
etd-11112020-125044
Title
Robot-Human Handover: generation of approach trajectories with Dynamic Movement Primitives
Structure
Cl. Sc. Sperimentali - Ingegneria
Course
INGEGNERIA - INGEGNERIA
Committee
Tutor Prof. STEFANINI, CESARE
Relatore Prof. FALOTICO, EGIDIO
Presidente Prof. FRISOLI, ANTONIO
Membro Dott. AVIZZANO, CARLO ALBERTO
Membro Prof. BUTTAZZO, GIORGIO CARLO
Membro Prof. CASTOLDI, PIERO
Membro Prof. CUCINOTTA, TOMMASO
Membro Prof. DI PASQUALE, FABRIZIO CESARE FILIPPO
Membro Prof.ssa MENCIASSI, ARIANNA
Membro Prof. MICERA, SILVESTRO
Keywords
  • Nessuna parola chiave trovata
Exam session start date
15/12/2020;
Availability
parziale
Abstract
A handover is a collaborative action where an agent, the giver, passes an object to a second agent, the receiver.<br>This task, although seemingly effortless for humans, requires several processes: communication of intentions, coordination of the two agents, trajectory generation, grasp planning, grip force modulation, and more.<br><br>This work aims to address the generation of suitable approach trajectories, exploiting the principled framework provided by Dynamical Movement Primitives (DMP). This framework allows the inclusion of learning strategies for the generation of trajectories, by which a forcing term can be learned from a dataset of recorded human-human interactions. Finally, by adjusting the timing of the DMP the problem of coordination can be addressed naturally, without the need for a different controller.
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