Designing Human-Robot Coexistence Space


Jixuan Zhi, Lap-Fai Yu and Jyh-Ming Lien


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Overview

When the human-robot interactions become ubiquitous, the environment surrounding these interactions will have a significant impact on the safety and comfort of the human and the effectiveness and efficiency of the robot. This work uses an autonomous wheelchair as an example and investigates the computational design in the human-robot coexistence spaces.

We formulate the design problem as an optimization problem subject to constraints from both human preferences encoded in an action-object relation graph and motion limitations of the robot (e.g., nonholonomic constraint). The key enabling technology is a motion planner that can efficiently evaluate hundreds of similar motion planning problems.
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Video


The video shows a design optimization of an office with nonholonomic motion planning. After the optimization, the video also shows a first view simulation of the room and path. Finally, it contains the optimization process of total cost during the iterations over time.






Online Presentations


The video shows online presentations for IROS 2021, Prague, Czech.



Publications

Designing Human-Robot Coexistence Space, Zhi, Jixuan and Yu, Lap-Fai and Lien, Jyh-Ming, IEEE Robotics and Automation Letters (RA-L) and IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021
Paper / Pre-Print (pdf) / BibTeX
Designing Human-Robot Coexistence Space, Zhi, Jixuan and Yu, Lap-Fai and Lien, Jyh-Ming, arXiv preprint arXiv:2011.07374, 2020
BibTeX
Computer Science @ George Mason University