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Integrative framework for human-robot collaboration
Jashti, Sai Lakshmi
Jashti, Sai Lakshmi
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t24014_Jashti.pdf
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2024-05
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Electronic dissertations
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Abstract
Human-robot collaboration attracts increasing interest, but it is challenging
for robots to understand complex environments and unstructured commands from
humans. This paper proposes an HRC platform that bridges human workers and
robot teammates via an interface surface that can be used to control robots,
display robots intentions, and comprehend human commands. Our platform
contains an interactive surface, and it is constructed by a projector and RGB-D
camera that can convert any surface into tablet-liked surfaces, where you can
control and communicate with the robot, thus creating a shared workspace that
makes interaction intuitive. To help humans better understand robot’s intentions,
we display the robot’s simulation on the interactive surface. In order to help
humans know about the robot’s comprehension, the interactive surface can display
the robot’s semantics understanding of the environments and logical representation
of human commands. We evaluate the proposed platform in both simulated
environments and real-world environments. We also evaluate the platform based on
a survey that is collected from different groups of people.
Keywords: Human-Robot collaboration (HRC), Scene semantics
understanding, Digital twin, Natural language processing (NLP).
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Thesis (M.S.)-- Wichita State University, College of Engineering, School of Computing
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Wichita State University
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© Copyright 2024 by Sai Lakshmi Jashti
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