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Exploiting potential energy storage for cyclic manipulation: A Human-Centered Approach to Robot Gesture Based Communication within Collaborative Working Processes

Ende, Tobias and Haddadin, Sami and Parusel, Sven and Wuesthoff, Tilo and Albu-Schaeffer, Alin (2011) Exploiting potential energy storage for cyclic manipulation: A Human-Centered Approach to Robot Gesture Based Communication within Collaborative Working Processes. In: Proceedings. IROS 2011, 25.-30. Sep. 2011, San Francisco, USA.

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Abstract

The increasing ability of industrial robots to perform complex tasks in collaboration with humans requires more capable ways of communication and interaction. Traditional systems use separate interfaces such as touchscreens or control panels in order to operate the robot, or to communicate its state and prospective actions to the user. Transferring human communication, such as gestures to technical non-humanoid robots, creates various opportunities for more intuitive humanrobot- interaction. Interaction shall no longer require a separate interface such as a control panel. Instead, it should take place directly between human and robot. To explore intuitive interaction, we identified gestures that are relevant for co-working tasks from human observations. Based on a decomposition approach we transferred them to robotic systems of increasing abstraction and experimentally evaluated how well these gestures are recognized by humans. We created a humanrobot interaction use-case in order to perform the task of handling dangerous liquid. Results indicate that several gestures are well perceived when displayed with context information regarding the task.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Exploiting potential energy storage for cyclic manipulation: A Human-Centered Approach to Robot Gesture Based Communication within Collaborative Working Processes
Authors:
AuthorsInstitution or Email of Authors
Ende, TobiasTobias.Ende@dlr.de
Haddadin, SamiSami.Haddadin@dlr.de
Parusel, SvenSven.Parusel@dlr.de
Wuesthoff, TiloTilo.Wuesthoff@dlr.de
Albu-Schaeffer, AlinAlin.Albu-Schaeffer@dlr.de
Date:25 September 2011
Journal or Publication Title:Proceedings
Refereed publication:Yes
In ISI Web of Science:No
Status:Published
Keywords:Interaktionsdesign, Robotergesten, Prozessgesten, Mensch-Roboter Interaktion
Event Title:IROS 2011
Event Location:San Francisco, USA
Event Type:international Conference
Event Dates:25.-30. Sep. 2011
Organizer:IEEE/RSJ
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
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 - Kognitive Intelligenz und Autonomie (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics > Robotic Systems
Deposited By: Gabriele Beinhofer
Deposited On:20 Jan 2012 13:25
Last Modified:12 Dec 2013 21:33

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