Three mini-projects (MP) will be assigned throughout the semester to gain a deeper understanding of the material. You may submit projects individually or in groups up to three. This group does not have to be the same as your project team and can change between MPs. These MPs will be completed in the robotics lab in ECEB 3071.
Submission
Guidelines for your reports will be provided when the MPs are released in the shared Box folder.
All reports will be due on 11/3 at midnight (see the Schedule for due dates and the syllabus for late policies). All assignments will be submitted via GradeScope. Please contact TA Zhe Huang if you have not been added to the roster.
MP1: Experimental Protocols
The purpose of this project is for you create an experimental protocol for an experiment with a human and a robot and perform a preliminary user study. We have created a simple scenario for a human and a robot to share a workspace. The robot has a built in safety function, where it will stop when the human gets too close. It is your job to create and carry out a mini-experiment, in which you test the safety of the system.
MP2: Behavior Prediction and Action Recognition
We will setup a simple framework for a game of rock-paper-scissors, but the robot needs to understand the human’s input. Your goal will be to design an action recognition (and perhaps prediction) algorithm and integrate the output into your robot’s decision-making and control stack, showing how your robot responds to and interacts with the human’s action.
MP3: Human-in-the-Loop Control
The purpose of this MP is for you to perform human-in-the-loop control in a joint task, which both human input and automated input are necessary to accomplish the goal. The robot will be attempting to reach a goal, but will be missing some capabilities (e.g., collision avoidance). The human will be tasked with helping the robot safely reach its’ goal. You will be implementing a mixed or shared controller as well as a switched control framework.