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     Tuly Hazbar

  WORK





Workspace For Human-Robot Collaboration


I created a prototype work cell for a human and a robot to collaborate on performing table-top object manipulation tasks. 

The human-robot team is moving the workpieces from one side of the table to the other while maintaining the same configuration.

Along with the physical work cell, I created a virtual representation of the setup that can run offline or online. The offline virtual representation allows me to perform pre-interaction analysis for testing and validating the algorithms I am developing. The online virtual representation lets me view what the robot is seeing, thinking, and doing. At this stage, I am utilizing the online virtual representation for debugging. I am exploring other potential use cases that can enhance the human-robot collaboration inspired by the concept of the Digital Twin.

    How I built it


     Software:
    • Robot Operating System (ROS).
    • Virtual Robot Experimentation Platform (V-REP).

    Sensors:
    • RGB-D Kinect sensor.
    • Optitrack Motion Capture system.

    Robot: Sawyer by Rethink Robotics.


    How it works