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Physical HRI with a Tethered Quadruped
This project aims to develop a system for guiding visually-impaired humans through physical interaction with a robot. Inspired by guide dogs, the human is physically connected to a quadruped robot (ANYmal) through a tether or rigid link. The robot is able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel.
This project aims to develop a system for guiding visually-impaired humans through physical interaction with a robot. Inspired by guide dogs, the human is physically connected to a quadruped robot (ANYmal) through a tether or rigid link. The robot is able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel.
The main goals of this thesis are:
- Development of a compliant high-level controller for the robot
- Investigation of how dynamic properties of the physical link affect oscillations felt by the human
- Extensive evaluation of the developed methodology in real-world experiments
This project aims to develop a system for guiding visually-impaired humans through physical interaction with a robot. Inspired by guide dogs, the human is physically connected to a quadruped robot (ANYmal) through a tether or rigid link. The robot is able to pull the human toward a desired position (or along a path) only using forces as an indirect communication-channel.
The main goals of this thesis are: - Development of a compliant high-level controller for the robot - Investigation of how dynamic properties of the physical link affect oscillations felt by the human - Extensive evaluation of the developed methodology in real-world experiments
1. [Required] Literature review of the related work (e.g. [1,2])
2. [Required] Estimate closed-loop dynamics of ANYmal pose controller
3. [Required] Develop and implement compliant high-level guidance controller
4. [Required] Derive requirements for physical link properties to passively filter oscillations due to robot gait
5. [Required] Validation of the method in simulation and experiments
[1] Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-based Human Guiding Problem, 2021
[2] Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction, 2022
1. [Required] Literature review of the related work (e.g. [1,2]) 2. [Required] Estimate closed-loop dynamics of ANYmal pose controller 3. [Required] Develop and implement compliant high-level guidance controller 4. [Required] Derive requirements for physical link properties to passively filter oscillations due to robot gait 5. [Required] Validation of the method in simulation and experiments
[1] Physical Human-Robot Interaction with a Tethered Aerial Vehicle: Application to a Force-based Human Guiding Problem, 2021
[2] Human-State-Aware Controller for a Tethered Aerial Robot Guiding a Human by Physical Interaction, 2022
- High motivation and interest in the topic
- Methodological and goal-oriented working behavior
- Strong background in ROS and C++
- Familiarity with compliant interaction control
- High motivation and interest in the topic - Methodological and goal-oriented working behavior - Strong background in ROS and C++ - Familiarity with compliant interaction control
Dr. Marco Tognon (marco.tognon@mavt.ethz.ch)
Maria Vittoria Minniti (mariavittoria.minniti@mavt.ethz.ch)
Mike Allenspach (mike.allenspach@mavt.ethz.ch)
Dr. Marco Tognon (marco.tognon@mavt.ethz.ch)
Maria Vittoria Minniti (mariavittoria.minniti@mavt.ethz.ch)