Objective This proposal addresses robotic manipulation planning for human-robot collaboration during manufacturing. My objective is to develop a planning framework which will enable a team of robots to grasp, move and position manufacturing parts (e.g. planks of wood) such that a human can execute sequential forceful manufacturing operations (e.g. drilling, cutting) to build a product (e.g. a wooden table). The overall objective is divided into three components: First, I will develop a planning algorithm which, given the description of a manufacturing task, plans the actions of all robots in a human-robot team to perform the task. Second, I will develop probabilistic models of human interaction to be used by the planner. This model will include (i) an action model that assigns probabilities to different manufacturing operations (e.g. drilling a hole vs. cutting a piece off) as the next actions the human intends to do; (ii) a geometric model that assigns probabilities to human body postures; and (iii) a force model that assigns probabilities to force vectors as the predicted operational forces. Third, I will build a real robotic system to perform experiments and test my algorithm's capabilities. This system will consist of at least three robot manipulators.This fellowship will enable me to add a completely new human dimension to my planning research. I will work with Prof. Tony Cohn (supervisor) who is a world-leading expert in human activity recognition and prediction - a critical skill for the human-robot collaboration problem I intend to solve. From him and his group, I will receive training on tracking/predicting human posture and recognizing/predicting human activities using vision and point-cloud data. I will then integrate these tracking and prediction methods into a robotic planning framework to enable human-robot collaborative operations. This fellowship will help me to attain a permanent academic position and to become a leading researcher in robotic manipulation. Fields of science engineering and technologyelectrical engineering, electronic engineering, information engineeringelectronic engineeringroboticsagricultural sciencesagriculture, forestry, and fisheriesforestry Programme(s) H2020-EU.1.3. - EXCELLENT SCIENCE - Marie Skłodowska-Curie Actions Main Programme H2020-EU.1.3.2. - Nurturing excellence by means of cross-border and cross-sector mobility Topic(s) MSCA-IF-2016 - Individual Fellowships Call for proposal H2020-MSCA-IF-2016 See other projects for this call Funding Scheme MSCA-IF-EF-RI - RI – Reintegration panel Coordinator UNIVERSITY OF LEEDS Net EU contribution € 195 454,80 Address WOODHOUSE LANE LS2 9JT Leeds United Kingdom See on map Region Yorkshire and the Humber West Yorkshire Leeds Activity type Higher or Secondary Education Establishments Links Contact the organisation Opens in new window Website Opens in new window Participation in EU R&I programmes Opens in new window HORIZON collaboration network Opens in new window Total cost € 195 454,80