University of Twente Student Theses


Human-aware motion planning in Aerial Human-Robot Handovers

Bekooij, Bastiaan (2022) Human-aware motion planning in Aerial Human-Robot Handovers.

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Abstract:In recent years research on Aerial Physical Interaction has been accelerated by both improvements in Aerial platform design and also optimization control knowledge. In robotics literature, the topic of Human-robot interaction is making rapid improvements that allow for complex collaborative actions such as handovers. This leads to the natural conception of doing aerial human-robot interaction. As part of the Aerial-CORE project, this thesis develops a method to do a perception-based pre-handover, the approach phase. In doing human-robot interaction, the safety of the human is paramount as well that the human should feel as comfortable as possible. With that purpose in mind, several objectives and constraints are formulated and implemented in a Non-linear Model Predictive Controller. Dedicated perception objectives and constraints make sure that the robot keeps the human in its view. To show intent to the human, a special legibility-inspired objective has been implemented. The controller is validated in simulation.
Item Type:Essay (Master)
Faculty:EEMCS: Electrical Engineering, Mathematics and Computer Science
Subject:53 electrotechnology
Programme:Electrical Engineering MSc (60353)
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