TY - GEN
T1 - HUCOM
T2 - ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
AU - Wang, Weitian
AU - Liu, Na
AU - Li, Rui
AU - Chen, Yi
AU - Jia, Yunyi
N1 - Funding Information:
This work was supported in part by the National Science Foundation Grant CRII-1755771 and a subaward from the ARM Institute (W911NF-17-3-0004).
Publisher Copyright:
Copyright © 2018 ASME
PY - 2018
Y1 - 2018
N2 - Human comfort is significant in human-robot collaboration since it can influence the task efficiency and quality. In this paper, we propose a computational Human Comfort Model (HuCoM) to model and quantify the human comfort during human-robot collaborative manufacturing. Based on the defined primitive comfort rewards and combined comfort rewards, the HuCoM is developed with an incorporation of the static comfort model and the dynamic comfort model. We validate and evaluate the proposed model by several human-robot collaborative tasks via a YuMi robot.
AB - Human comfort is significant in human-robot collaboration since it can influence the task efficiency and quality. In this paper, we propose a computational Human Comfort Model (HuCoM) to model and quantify the human comfort during human-robot collaborative manufacturing. Based on the defined primitive comfort rewards and combined comfort rewards, the HuCoM is developed with an incorporation of the static comfort model and the dynamic comfort model. We validate and evaluate the proposed model by several human-robot collaborative tasks via a YuMi robot.
UR - http://www.scopus.com/inward/record.url?scp=85057330932&partnerID=8YFLogxK
U2 - 10.1115/DSCC2018-9245
DO - 10.1115/DSCC2018-9245
M3 - Conference contribution
AN - SCOPUS:85057330932
T3 - ASME 2018 Dynamic Systems and Control Conference, DSCC 2018
BT - Control and Optimization of Connected and Automated Ground Vehicles; Dynamic Systems and Control Education; Dynamics and Control of Renewable Energy Systems; Energy Harvesting; Energy Systems; Estimation and Identification; Intelligent Transportation and Vehicles; Manufacturing; Mechatronics; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Control of IC Engines and Powertrain Systems; Modeling and Management of Power Systems
PB - American Society of Mechanical Engineers (ASME)
Y2 - 30 September 2018 through 3 October 2018
ER -