Real-Time Motion Prediction for Efficient Human-Robot
Collaboration
Name
kothari-aadi-sm-meche-2023-thesis.pdf
Description
Thesis PDF
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4.29 MB
Format
Adobe PDF
Checksum (MD5)
ee196e5dbe650c4a4f640fcd05b6b7c7
Author(s)
Kothari, Aadi
Advisor(s)
Youcef-Toumi, Kamal
Date Issued
September 2023
Publisher
Massachusetts Institute of Technology
Abstract
Human motion prediction is an essential step for efficient and safe human-robot collaboration. Current methods either purely rely on representing the human joints in some form of neural network-based architecture or use regression models offline to fit hyper-parameters in the hope of capturing a model encompassing human motion. While these methods provide good initial results, they are missing out on leveraging well-studied human body kinematic models as well as body and scene constraints which can help boost the efficacy of these prediction frameworks while also explicitly avoiding implausible human joint configurations. We propose a novel human motion prediction framework that incorporates human joint constraints and scene constraints in a Gaussian Process Regression (GPR) model to predict human motion over a set time horizon. This formulation is combined with an online context-aware constraints model to leverage task-dependent motions. It is tested on a human arm kinematic model and implemented on a human-robot collaborative setup with a UR5 robot arm to demonstrate the real-time capability of our approach. Simulations were also performed on datasets like HA4M and ANDY. The simulation and experimental results demonstrate considerable improvements in a Gaussian Process framework when these constraints are explicitly considered.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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