The goal of the project is to develop a system to allow human operators to remotely interact with an additive manufacturing cell via robot manipulator. A number of scientific and engineering milestones has been established in order to achieve the goal:

  • Research objective I: Enable HRI under the assumption that:
    • Human is remotely present in the workspace.
    • Human has good situational awareness by being embodied in the robot.
    • Based on measures that describe interaction adjust level of autonomy.
  • Research objective II: Develop a framework for real-time motion synthesis and control:
    • Allow specification of tasks at various levels of specificity.
    • Transparent mapping of high level user .
  • Research objective III: Investigate the factors which leads to immersive interfaces and allows operators to achieve high performance with the feeling of being present.

The project comprises of five work packages (WPs), of which two are specifically devoted to address the research objectives. The overall project workplan also includes WPs related to management, legal aspects, and infrastructure.

WP1: Requirements and Legalities

The objective of this WP is to document the current manual procedures for cleaning machines, to determine the metrics for successful task completion, to investigate the legalities of replacing certain tasks with automated/teleoperated solutions, and to collect and present user requirements in a manner accessible to all partners. The work leverages from the already conducted pre-study and thus is most intensive during the first 6 months of the project.

WP2: Measures and Algorithms for Sliding Autonomy

The objective of this WP is to develop the algorithms for sliding autonomy, determine what cues can be measured and map cues to performance metrics using convolutional neural networks.

WP3: Whole-body Motion Generation- and Control

In this WP we will develop a real-time control framework for reactive on-the-fly robot movement generation. By leveraging embedded optimization, the devised control scheme will account for user input available in the shared autonomy setting, while synthesising actuator commands from high-level task specifications.

WP4: Infrastructure and Implementation

The goal is to ensure the necessary equipment and infrastructure is in place for the two scientific WPs, to perform demonstrations in a timely manner, and provide a validation platform for experimentation.

WP5: Project Technical and Scientific Management

The objective is to provide the project management, ensure that deliverables are met, that co-production occurs, and that scientific quality is maintained.