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Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society
Haddadin, Sami and Parusel, Sven and Belder, Rico and Albu-Schaeffer, Alin and Hirzinger, Gerd (2012) Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society. ARSO, A Worshop on Advanced Robotics and its Social Impacts, Half-Moon Bay, USA.
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Abstract
In this paper we review our work on safe acting and manipulation in human environments. In order for a robot to be able to safely interact with its environment it is primary to be able to react to unforeseen events in real-time on basically all levels of abstraction. Having this goal in mind, our contributions reach from fundamental understanding of human injury due to robot-human collisions as the underlying metric for “safe” behavior, various interaction control schemes that ground on the basic components impedance control and collision behavior, to real-time motion planning and behavior based control as an interface level for task planning. A significant amount of this work has found found its way into international standardization committees, products, and was applied in numerous real-world applications.
| Document Type: | Conference or Workshop Item (Speech, Paper) | ||||||||||||
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| Title: | Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society | ||||||||||||
| Authors: |
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| Date: | 10 January 2012 | ||||||||||||
| Refereed publication: | Yes | ||||||||||||
| Status: | Published | ||||||||||||
| Keywords: | sichere Mensch-Roboter Interaktion, reaktive Planung, Biomechanik, Soft-robotics | ||||||||||||
| Event Title: | ARSO, A Worshop on Advanced Robotics and its Social Impacts | ||||||||||||
| Event Location: | Half-Moon Bay, USA | ||||||||||||
| Event Type: | international Conference | ||||||||||||
| Organizer: | IEEE | ||||||||||||
| HGF - Research field: | Aeronautics, Space and Transport | ||||||||||||
| HGF - Program: | Space | ||||||||||||
| HGF - Program Themes: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Research area: | Space | ||||||||||||
| DLR - Program: | W SY - Technik für Raumfahrtsysteme | ||||||||||||
| DLR - Research theme (Project): | W - RMC - Mechatronik und Telerobotik | ||||||||||||
| Location: | Oberpfaffenhofen | ||||||||||||
| Institutes and Institutions: | Institute of Robotics and Mechatronics | ||||||||||||
| Deposited By: | Gabriele Beinhofer | ||||||||||||
| Deposited On: | 10 Jan 2012 08:48 | ||||||||||||
| Last Modified: | 18 Apr 2013 13:11 |
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