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dc.contributor.authorUnhelkar, Vaibhav V.
dc.contributor.authorLasota, Przemyslaw A.
dc.contributor.authorTyroller, Quirin
dc.contributor.authorBuhai, Rares-Darius
dc.contributor.authorMarceau, Laurie
dc.contributor.authorDeml, Barbara
dc.contributor.authorShah, Julie A.
dc.date.accessioned2020-04-14T15:57:24Z
dc.date.available2020-04-14T15:57:24Z
dc.date.issued2018-03
dc.date.submitted2018-01
dc.identifier.issn2377-3766
dc.identifier.issn2377-3774
dc.identifier.urihttps://hdl.handle.net/1721.1/124626
dc.description.abstractIntroducing mobile robots into the collaborative assembly process poses unique challenges for ensuring efficient and safe human-robot interaction. Current human-robot work cells require the robot to cease operating completely whenever a human enters a shared region of the given cell, and the robots do not explicitly model or adapt to the behavior of the human. In this work, we present a human-aware robotic system with single-axis mobility that incorporates both predictions of human motion and planning in time to execute efficient and safe motions during automotive final assembly. We evaluate our system in simulation against three alternative methods, including a baseline approach emulating the behavior of standard safety systems in factories today. We also assess the system within a factory test environment. Through both live demonstration and results from simulated experiments, we show that our approach produces statistically significant improvements in quantitative measures of safety and fluency of interaction. Keywords: Physical Human-Robot Interaction, Collaborative Robots, Assemblyen_US
dc.language.isoen
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)en_US
dc.relation.isversionofhttp://dx.doi.org/10.1109/lra.2018.2812906en_US
dc.rightsCreative Commons Attribution-Noncommercial-Share Alikeen_US
dc.rights.urihttp://creativecommons.org/licenses/by-nc-sa/4.0/en_US
dc.sourceMIT web domainen_US
dc.titleHuman-Aware Robotic Assistant for Collaborative Assembly: Integrating Human Motion Prediction With Planning in Timeen_US
dc.typeArticleen_US
dc.identifier.citationUnhelkar, Vaibhav V. et al. "Human-Aware Robotic Assistant for Collaborative Assembly: Integrating Human Motion Prediction With Planning in Time." IEEE Robotics and Automation Letters 3, 3 (July 2018): 2394-2401 © 2016 IEEEen_US
dc.contributor.departmentMassachusetts Institute of Technology. Department of Electrical Engineering and Computer Scienceen_US
dc.relation.journalIEEE Robotics and Automation Lettersen_US
dc.eprint.versionAuthor's final manuscripten_US
dc.type.urihttp://purl.org/eprint/type/JournalArticleen_US
eprint.statushttp://purl.org/eprint/status/PeerRevieweden_US
dc.date.updated2019-11-01T11:36:29Z
dspace.date.submission2019-11-01T11:36:35Z
mit.journal.volume3en_US
mit.journal.issue3en_US
mit.metadata.statusComplete


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