The future where the industrial shop-floors witness humans and robots working in unison and the domestic households becoming a shared space for both these agents is not very far. The scientific community has been accelerating towards that future by extending their research efforts in human-robot interaction towards human-robot collaboration. It is possible that the anthropomorphic nature of the humanoid robots could deem the most suitable for such collaborations in semi-structured, human-centered environments. Wearable sensing technologies for human agents and efficient human-aware control strategies for the humanoid robot will be key in achieving a seamless human-humanoid collaboration. This is where reliable state estimation strategies become crucial in making sense of the information coming from multiple distributed sensors attached to the human and those on the robot to augment the feedback controllers designed for the humanoid robot to aid their human counterparts. In this context, this thesis investigates the theory of Lie groups for designing state estimation techniques aimed towards humanoid locomotion and human motion estimation. [continued]
翻译:工业商店层目睹人类和机器人团结一致工作,家庭成为这两种物剂共同空间的未来并不远。科学界通过扩大人类-机器人相互作用的研究工作,将人类-机器人相互作用的研究工作扩大到人类-机器人协作,从而加速走向未来。人类类机器人的人类形态性质可能认为最适合在半结构、以人为本的环境中进行此类合作。人类剂的可穿式遥感技术和人类类机器人的有效人类认知控制战略是实现无缝人类-人类类机器人合作的关键。可靠的国家估计战略对于从人类和机器人的多个分布式传感器收集信息,增强为人类类机器人设计的反馈控制器,以帮助其人类对应方,至关重要。在这方面,本论文研究了设计国家估算技术以人类类植物和人类运动估算为目的的 " 谎言小组 " 理论。[续]