Author | Conference | Journal | Organization | Year | DOI
Look for results that meet for the following criteria:
Academic
Publications
Bilateral physical interaction with a robot manipulator through a weighted combination of flow fields

Bilateral physical interaction with a robot manipulator through a weighted combination of flow fields,10.1109/IROS.2011.6048802,Antonio Pistillo,Sylva

Edit
Bilateral physical interaction with a robot manipulator through a weighted combination of flow fields   (Citations: 1)
BibTex | RIS | RefWorks Download
When collaboration between human users and robots involves physical interaction, the importance of the safety issue arises. We propose a method to transfer to robots several tasks demonstrated by the user through kinesthetic teaching and subsequently learned using a weighted combination of dynamical systems (DS). The approach used to encode the desired skills ensures a safe robot behavior during the task reproduction, allowing physical interaction with the user who can employ the manipulator as a tangible interface. By using a force sensor-less impedance controller with a back-drivable robot, this concept is exploited in two physical human-robot interaction (pHRI) scenarios. The first considers an emergency situation in which the user can stop or pause a task execution by grasping and moving the robot away from the region of space associated to the skill. The second studies the possibility to select one among several learned tasks and switch to its execution by physically guiding the robot towards the task region. I. INTRODUCTION The consideration of robots as both manipulators and actuated interfaces offers new perspective in human-robot interaction, human-centered robotics and ubiquitous comput- ing. Such actuated interfaces can have many roles and will require to merge expertise from various fields of research such as robot control, haptics and interaction design, whose respective research advances tend to follow separated tracks. Haptic interfaces are often considered as input devices and robots are traditionally viewed as actuators, but in terms of hardware capabilities, the frontier progressively disappears. On the one hand, haptic interfaces become stronger, their workspace get larger, and their passive degrees of freedom (DOFs) get progressively replaced by actuated DOFs, pro- viding new movement/recording capabilities. On the other hand, the recent commercialization of back-drivable, actively compliant and gravity-compensated redundant manipulators provides new capabilities in terms of physical interaction. This work goes towards exploiting these new hardware and software capabilities by stressing the issues arising when the robot has to operate in human environments and interact with non-professional users. The robot will be viewed as a tangible platform that provides both input and output capabilities. Instead of considering separated interfaces to start/stop a task, trigger an emergency signal, or select a task among a set of learned ones, we take the perspective that the most straightforward and intuitive communication medium for such human-robot collaboration is to transmit the information directly through contact with the robot. It
Conference: International Conference on Intelligent RObots and Systems - IROS - IROS , pp. 3047-3052, 2011
Cumulative Annual
View Publication
The following links allow you to view full publications. These links are maintained by other sources not affiliated with Microsoft Academic Search.
Sort by:

Citations (1)

Share this on