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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: |
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| 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, Aeronautics, Space and Transport | ||||||||
| HGF - Program: | Space, Space | ||||||||
| 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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