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dc.contributor.authorRavi, Rahul Kumar
dc.date.accessioned2022-01-24T18:06:33Z
dc.date.available2022-01-24T18:06:33Z
dc.date.issued2021-12
dc.identifier.otherRavi_cornell_0058O_11359
dc.identifier.otherhttp://dissertations.umi.com/cornell:11359
dc.identifier.urihttps://hdl.handle.net/1813/110769
dc.description85 pages
dc.description.abstractThis work compares two controllers for human-robot object handovers. The proposed Timing controller allows users to specify timing parameters for the handover and computes velocity control using Model Predictive Control (MPC). This controller provides feedback if it cannot satisfy those constraints, which can be used to better tune the controller. We implemented the controller on a collaborative robot with two objective functions: minimum cumulative jerk (MCJ) and minimum cumulative error (MCE). For each, we conducted a user study to compare it with a baseline Proportional Velocity (PV) controller. Users specified the controller parameters and performed handovers with the robot using both controllers. We found that the timing controller with the MCE implementation can provide better user experience and fewer failures compared to the PV controller. Our findings could help towards the design of better controllers for Human-Robot handovers.
dc.language.isoen
dc.titleTIMING CONTROLLER FOR HUMAN-ROBOT OBJECT HANDOVER: IMPLEMENTATION AND EVALUATION
dc.typedissertation or thesis
thesis.degree.disciplineMechanical Engineering
thesis.degree.grantorCornell University
thesis.degree.levelMaster of Science
thesis.degree.nameM.S., Mechanical Engineering
dc.contributor.chairKress-Gazit, Hadas
dc.contributor.committeeMemberHoffman, Guy
dcterms.licensehttps://hdl.handle.net/1813/59810.2
dc.identifier.doihttps://doi.org/10.7298/8rw9-6065


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