A main effort of new work for this period for WP3.1 was on the development and implementation of HRI user trials in order to carry out the the User Experience Evaluation (UEE) for Key Experiments (KEs) 2, 3a and 3b. The Univerity of Hertfodshire WP3.1 team liaised with the various KE partners to develop the Video-based Human-Robot Interaction (VHRI) trial methodology, story boards, and scripts. They then travelled to each KE implementation partners institution to film the respective VHRI UEE trial videos. The VHRI trial videos were produced, shot and edited by the UEE Trial video in co-operation with the KE2 and KE3 (a and b) implementation team members from LAAS, EPFL and IPA. These three videos are those that were used for the KE2, Ke3a and KE3b UEE VHRI trials respectively: KE2-UEE-Video-HRI(English).mp4, KE3a-UEE-Video-HRI(English).mp4 and KE3b-UEE-Video-HRI(English).mp4.
The handling over object motion by taking into account safety, visibility, robot kinematics structure and human arm comfort with a comfortable object exchange position.
The algorithms that HAMP uses can easily be carried to different type of robots. In this example, it Jido who is equipped with HAMP.
A complete simulation example illustrating HANP, PSP and HAMP. The goal of the robot is to hand over a bottle to the person in the room. The robot first uses PSP to find a configuration that will enable the robot to see this person in order to acquire his exact position. HANP is then uses to reach this position. Once the position is reached, PSP recalculates another configuration that will satisfy HAMP start requirements. MANP is the reused to reach this final position where HAMP is launched to handle the bottle to the person.
Below are only listed some of the RA-related publications, please see the Publications page for more.
An Integrated Project funded by the European Commission's Sixth Framework Programme