2026-09-19T00:11:57Zhttps://ecommons.cornell.edu/server/oai/requestoai:ecommons.cornell.edu:1813/1107692026-05-15T19:42:29Zcom_1813_35col_1813_47
Ravi, Rahul Kumar
Kress-Gazit, Hadas
Hoffman, Guy
2022-01-24T18:06:33Z
2022-01-24T18:06:33Z
2021-12
ProQuest Submission ID: 11359
ProQuest Publication ID: 28861191
https://hdl.handle.net/1813/110769
https://doi.org/10.7298/8rw9-6065
15312623
85 pages
This 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.
en
TIMING CONTROLLER FOR HUMAN-ROBOT OBJECT HANDOVER: IMPLEMENTATION AND EVALUATION
dissertation or thesis
https://newcatalog.library.cornell.edu/catalog/15312623
application/pdf
Mechanical Engineering
Cornell University
Master of Science
M.S., Mechanical Engineering
https://hdl.handle.net/1813/59810.2
Publication
Cornell Theses and Dissertations
Ravi, Rahul Kumar
5893a6ea-7af3-41d7-abc6-04bcd26ab5df
open.access
open.access
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<Abstract>This 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.</Abstract>
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