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Designing, Controlling and Programming Robots for Direct Interaction with Humans

Albu-Schäffer, Alin (2015) Designing, Controlling and Programming Robots for Direct Interaction with Humans. IROS, International Conference on Intelligent Robots and Systems, 2015-09-28 - 2015-10-02, Hamburg. (Unpublished)

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The talk will address several implications resulting from the paradigm of putting the humans in the center of robot design. First, assistance robots are supposed to closely interact with their human user. Therefore they need to be compatible to humans in terms of size and weight, but also regarding velocity and power. They need to be safe and compliant, able to perceive human motions and fast changing environments in real time and to also plan and execute their reactions at human compatible time scales. This poses substantial challenges in terms of hardware and algorithms design, as well as in term of system integration. I will present here the evolvement of DLR robot design and control from compliantly controlled robots with joint torque sensing to intrinsically compliant systems with variable compliance actuation. I will particularly also focus on the interplay of advanced control, planning and AI for fast and intuitive robot programming. Second, putting the human in the center of robot development also means to use robotics research in order to better understand human motion and intelligence in a synthetizing way by using the analytic tools of robotics. I will particularly highlight in this respect the interplay of biomechanics and neuro-control with robot design and advanced robotics control. Humans can also directly benefit from this research through the development of better human-machine interfaces, robotized medical procedures, and prosthetic and rehabilitation devices which will even more reduce the barrier between humans and robots in the future.

Item URL in elib:https://elib.dlr.de/101551/
Document Type:Conference or Workshop Item (Speech)
Title:Designing, Controlling and Programming Robots for Direct Interaction with Humans
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Albu-Schäffer, AlinUNSPECIFIEDhttps://orcid.org/0000-0001-5343-9074UNSPECIFIED
Date:2 October 2015
Refereed publication:No
Open Access:No
Gold Open Access:No
In ISI Web of Science:No
Keywords:assistance robots, intrinsically compliant systems, variable compliance actuation
Event Title:IROS, International Conference on Intelligent Robots and Systems
Event Location:Hamburg
Event Type:international Conference
Event Start Date:28 September 2015
Event End Date:2 October 2015
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space System Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Space System Technology
DLR - Research theme (Project):R - On-Orbit Servicing [SY]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013)
Deposited By: Beinhofer, Gabriele
Deposited On:04 Jan 2016 11:17
Last Modified:24 Apr 2024 20:07

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