The following research topics are opened for internship and RA positions. If you are interested in, please contact me.
I usually cannot offer living expense (Depending on the topic, travel expense provision might be possible). If you are living out of Japan, please check grant opportunities from your university or country as well as contact me.
Motion Priority Optimization for Cooperative Tele-Recovery
(Description)
The escalating utilization of industrial robots at manufacturing sites has been instrumental in mitigating human workload. Nevertheless, the challenge persists in achieving effective human-robot collaboration/cooperation where human workers and robots share a workspace for collaborative tasks. In the event of an industrial robot encountering a failure, it necessitates the suspension of the corresponding factory cell for safe recovery. Given the limited capacity of pre-programmed robots to rectify such failures, human intervention becomes imperative, requiring entry into the robot workspace to address the dropped object while the robot system is halted. This non-continuous manufacturing process results in productivity loss. Robotic teleoperation has emerged as a promising technology enabling human workers to undertake high-risk tasks remotely and safely. Our study advocates for the incorporation of robotic teleoperation in the recovery process during manufacturing failure scenarios, which is referred to as "Cooperative Tele-Recovery". Our proposed approach involves the formulation of priority rules designed to facilitate collision avoidance between manufacturing and recovery robots. This, in turn, ensures a continuous manufacturing process with minimal production loss within a configurable risk limitation.
(Requirement)
C++/Python programming, ROS, and basic knowledge of robotics.
(Reference)
[1] S. Itadera and Y. Domae, "Motion Priority Optimization Framework towards Automated and Teleoperated Robot Cooperation in Industrial Recovery Scenarios," 2023 https://arxiv.org/abs/2308.15044
Multiple Robot Teleoperaiton with Shared Control
(Description)
Multi-robot teleoperation would expand human ability.
(Requirement)
C++ programming, ROS, and basic knowledge of robotics.
(Reference)
Multi-Interaction-Modality (Interface) for Robotic Teleoperation
(Description)
There are many types of interaction modality (interface) for robotic teleoperation. However, none of them is superior to others. It is important for user to choose a suitable one freely. This topic address 1) interaction modality (interface) database and 2) AI for suggesting appropriate modality in each situation.
(Requirement)
C++/Python programming, ROS, and basic knowledge of robotics, CV, LLM and human-machine interface.
(Reference)
Robot Embodiment through XR-based Teleoperation Interface
(Description)
Investigate minimum requirements where users needs to obtain embodiment in terms of robotic teleoperation, using XR (VR, AR, MR) technology.
(Requirement)
C++/Python/C# programming, Unity, and basic knowledge of robotics and human-machine interface.
(Reference)
Skill Transfer through Physical Human-Robot Interaction
(Description)
(Requirement)
C++ programming, ROS, and basic knowledge of robotics and human-machine interface.
(Reference)
Development of OpenHRC
(Description)
OpenHRC is an open-source ROS package for implementing human-robot collaboration/cooperation tasks. This topic address the improvement and maintenance of this package.
(Requirement)
C++/Python programming, ROS/ROS2, and basic knowledge of robotics.
(Reference)
[1] OpenHRC: https://github.com/itadera/OpenHRC