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Tubitak-115E368

Safe Task Execution for Autonomous Humanoid Robots

Summary:

A robot should detect failures or anomalies and recover from them for safe execution to prevent potential damages to its environment or objects in interest. In this project, we investigate failure detection, isolation/identification and recovery methods for safe task execution by autonomous humanoid robots. The main motivation behind our work is developing methods that enable robots’ safe use in everyday application scenarios. Although this is a well-studied research topic for industrial robots in structured and engineered environments, for which certain standards and regulations exist, there are still several open research questions for safety in task execution by autonomous robots working in unstructured environments. We address these questions and propose a safe task execution system for solving them.

 

Project Team:

PI: Dr. Sanem Sariel

Researchers: Dr. Gökhan Ince, Dr. Yusuf Yaslan, Arda İnceoğlu, A. Cihan Ak, B. Ongun Kanat, Doğan Altan, Gökhan Solak, Mustafa Ersen, Bengisu Güresti

 Special thanks to: Baris Bayram, Siddik Acil, Arda Ozdere, Volkan Toprak, Yuksel Seker and our department's faculty and staff.

 

This research is funded by a grant from the Scientific and Technological Research Council of Turkey (TUBITAK), Grant No. 115E-368.

 

 

Publications:


MSc. Theses:

  • Multimodal Sensing For Manipulation Failure Detection, Arda İnceoğlu, Graduate School Of Science Engineering and Technology, Istanbul Technical University, 2018
  • Adaptive Learning of Sembolic Numerical Constraints in the Real World, Gökhan Solak, Graduate School Of Science Engineering and Technology, Istanbul Technical University, 2017
 

Undergraduate Theses:

  • Integration of 2D and 3D Convolutional Neural Network Object Detectors to Visually Interpret Scenes, Sıddık Açıl, Faculty of Computer and Informatics Engineering, Istanbul Technical University, 2018
  • Failure Detection using Sensor Fusion for Cognitive Robots, Arda Ozdere, Faculty of Computer and Informatics Engineering, Istanbul Technical University, 2017
  • Sensor Fusion for Failure Detection in Cognitive Robots, Volkan Toprak, Faculty of Computer and Informatics Engineering, Istanbul Technical University, 2016
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