Role Exchange and Load Sharing for Human

Report
Role Exchange and Load Sharing
for
Human-Robot Haptic
Interaction
Cagatay Basdogan
Robotics and Mechatronics Laboratory (RML)
http://rml.ku.edu.tr
Koc University
Motivation:
Even though robots can be programmed to share
control with human operators to perform a task,
the interaction in such systems is still artificial
when compared to natural human-human
cooperation.
=
Why?
Motivation:
Home
Factory
Hospital
Why?
 Adaptation to human needs:





Intuitive, natural, and multimodal communication
Intention recognition and expression
Understanding personal traits
Role allocation and load sharing
Negotiation and conflict resolution
VIRTUAL WORLD:
Kucukyilmaz, A., Sezgin, T.M., Basdogan, C.,
2013, "Intention Recognition for Dynamic Role
Exchange in Haptic Collaboration", IEEE
Transactions on Haptics, Vol. 6, No. 1, pp. 58-68.
PHYSICAL WORLD:
Mortl, A., Lawitzky, M., Kucukyilmaz, A., Sezgin, M.,
Basdogan, C., Hirche, S., 2012, "The Role of
Roles: Physical Cooperation between Humans and
Robots", International Journal of Robotics
Research, Vol. 31, No. 13, pp. 1656-1674.
Artwork by Karya Başdoğan
7 PhD, 5 MS
Acknowledgement:
Ayşe Kücükyılmaz (PhD Student, Koc Univ.)
Özgur Oğuz (MS Student, Koc Univ.)
Alexander Mörtl (PostDoc Fellow, TUM)
Martin Lawitzky (PhD Student, TUM)
Prof. Metin Sezgin (Koc Univ.)
Prof. Sandra Hirche (TUM)
Alumni: Ayse Kucukyilmaz (Imperial College London), Özgür Oğuz (IIT/Italy),
Nuray Dindar(UBC/Canada), Berkay Yarpuzlu(Ford Otosan R&D), Yunus Has
(SAGE), Selman Cebeci (Ford Otosan R&D), Sina Öcal (Eczacıbaşı), Umut
Özcan (Ford Otosan R&D) Bilal Örün (İpek Kağıt), Mert Sedef (UNC, Mimic
Tech/USA), Aydin Varol (EPFL), Nesra Yannier (CMU), Erk Subaşı (ETH), İhsan
Günev (Ford Otosan ArGe), İbrahim Bukusoglu (Ford Otosan R&D), Cengiz
Öztireli (ETH), Evren Samur (EPFL, now Faculty Member at Bogaziçi Univ.),
Sertaç Karaman (MIT, now Faculty Member at MIT).
C C D C a m e ra
L D V M ic ro s c o p e A d a p te r
Laser Spot
P o s itio n e r
XYZ M anual
S ta g e
AFM
P ro b e
Biomechanics
XYZ Nano
S ta g e
Control Systems
Surface Haptics
Medical
Simulation

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