In this project I performed independent research in the field of Human-Robot Collaboration. In doing so, I divided the project into two sub-problems: motion segmentation, and motion planning in the presence of a human. I present an effective method for automatic segmentation of human grasping motions as well as a novel cost function that aims to minimize robotic interference to a human collaborator's workspace.

• This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.

Creator

• Hayne, Rafi H.

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-043015-122548

Advisor

• Berenson, Dmitry

Year

• 2015

Date created

• 2015-04-30

Resource type

• Major Qualifying Project

Major

• Computer Science

Rights statement

• In Copyright

License

• All rights reserved