Physical HRI

The goal of this lab is to try to compute SSM (Speed and Separation Monitoring) example.

The description can be found in the lecture PDF or in this article (should be accessible through CTU).

You can also play with this jupyter notebook (CW does not support .ipynb, so you need to unzip). It provides basic visualization how the individual distances are changing based on parameters.

There is an assignment for 8 points, please check: HW5 - Safety Assessment

There is also bonus assignment. The provided Jupyter notebook deals with the easiest option of constant velocities. In the real world, the robot will not always stop with constant velocity, but rather with more complicated profile. You can try to solve a problem with quadratic stopping speed in BRUTE. Upload your solution for up to 2 bonus points until next Wednesday midnight. Find your assignment at: BRUTE Lab 11 assginment.

Hint: You can check most computations by looking in the plots. The velocity profile is just a slightly more complicated than constant/linear.