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Çağatay Başdoğan - Modeling of Human-Robot Interaction Behavior

Overview

Human and robot, working together, are expected to play an important role in the foreseeable future. The increasing demand for high-quality and more flexible systems to carry out complex tasks put this dyad firmly in the field. Integrating human’s dexterity and problem-solving skills along with robot’s precision, strength, and repeatability into tasks involving physical interaction between them, pHRI, could be quite beneficial. Such a collaborative interaction may result in significant improvements in task performance and reduction in physical human effort. In order to make pHRI more effective, we need robots to anticipate the human partner’s behavior and act accordingly. For example, in collaborative manipulation of heavy objects, if the robot anticipates the human motion trajectory, it can contribute to the acceleration/deceleration of the manipulated object more effectively. In this project, you will develop model to estimate the motion trajectory and force response of the human collaborating with a robot.