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Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot

Parusel, Sven and Haddadin, Sami and Albu-Schaeffer , Alin (2011) Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot. In: Proceedings. ICRA2011, Int. Conf. on Robotics and Automation, 09.-13. May 2011, Shanghai, China.

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Abstract

In this paper we present a novel control architecture for realizing human-friendly behaviors and intuitive state based programming. The design implements strategies that take advantage of sophisticated soft-robotics features for providing reactive, robust, and safe robot actions in dynamic environments. Quick access to the various functionalities of the robot enables the user to develop flexible hybrid state automata for programming robot behaviors. The real-time robot control takes care of all safety critical aspects and provides reactive reflexes that directly respond to external stimuli.

Document Type:Conference or Workshop Item (Speech, Paper)
Title:Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot
Authors:
AuthorsInstitution or Email of Authors
Parusel, SvenSven.Parusel@dlr.de
Haddadin, SamiSami.Haddadin@dlr.de
Albu-Schaeffer , AlinAlin.Albu-Schaeffer@dlr.de
Date:May 2011
Journal or Publication Title:Proceedings
Status:Published
Keywords:Robotersteuerung, Planung, verhaltensbasierte Roboterprogrammierung
Event Title:ICRA2011, Int. Conf. on Robotics and Automation
Event Location:Shanghai, China
Event Type:international Conference
Event Dates: 09.-13. May 2011
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old), Aeronautics, Space and Transport (old)
HGF - Program:Space (old), Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme, W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space, Space
DLR - Program:W SY - Technik für Raumfahrtsysteme, W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old), 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 12:55
Last Modified:20 Jan 2012 12:55

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