Supervision and motion planning for a mobile manipulator interacting with humans

Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. A...

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Bibliographic Details
Published in:2008 3rd ACM/IEEE International Conference on Human-Robot Interaction (HRI) pp. 327 - 334
Main Authors: Sisbot, Emrah Akin, Clodic, Aurelie, Alami, Rachid, Ransan, Maxime
Format: Conference Proceeding
Language:English
Published: New York, NY, USA ACM 12.03.2008
IEEE
Series:ACM Conferences
Subjects:
Collaboration
Computer systems organization > Embedded and cyber-physical systems > Robotics > Robotic components
Humans
Monitoring
Planning
Robot kinematics
Safety
motion planning
robot architecture
hri
supervision
ISBN:1605580171, 9781605580173
ISSN:2167-2121
Online Access:Get full text
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Summary:Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of action introduces security constraints as well as comfort considerations which must be taken into account at the motion planning and control level. This paper presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware manipulation planner and a supervision system dedicated to collaborative task achievement.
ISBN:1605580171
9781605580173
ISSN:2167-2121
DOI:10.1145/1349822.1349865