EPFL presented the Secondhands project at AI and Its Alternatives in Assistive and Collaborative at the Robotics RSS Workshop on 23th of June 2019.
Prof. Aude Billard and Dr. Mahdi Khoramshahi were invited to present the achievements of the Secondhands consortium in the talk From human-intention recognition to compliant control. The topic of the talk was the following:
Human ability to coordinate one’s actions with other individuals to perform a task together is fascinating. For example, we coordinate our action with others when we carry a heavy object or when we construct a piece of furniture. Capabilities such as (1) force/compliance adaptation, (2) intention recognition, and (3) action/motion prediction enables us to assist others and fulfill the task. For instance, by adapting the compliance, we not only reject undesirable perturbations that undermine the task but also incorporate others’ motions into the interaction. Complying with partners’ motions allows us to recognise their intention and consequently predict their actions. With the growth of factories involving humans and robots working side by side, designing controllers and algorithms with such capacities is a crucial step toward assistive robotics. The challenge, however, is to attain a unified control strategy with predictive and adaptive capacities at the task, motion, and force-level which ensures a stable and safe interaction. In this talk, we present a state-dependent dynamical system-based approach for prediction and control in physical human-robot interactions.
The workshop aimed at bringing together researchers in autonomous systems and in psychology, neuroscience and bio-mechanics to better understand how a human partner thinks and functions when interacting with artificial agents.