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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. (nicht veröffentlicht)

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Kurzfassung

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.

elib-URL des Eintrags:https://elib.dlr.de/101551/
Dokumentart:Konferenzbeitrag (Vortrag)
Titel:Designing, Controlling and Programming Robots for Direct Interaction with Humans
Autoren:
AutorenInstitution oder E-Mail-AdresseAutoren-ORCID-iDORCID Put Code
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) DLR.dehttps://orcid.org/0000-0001-5343-9074NICHT SPEZIFIZIERT
Datum:2 Oktober 2015
Referierte Publikation:Nein
Open Access:Nein
Gold Open Access:Nein
In SCOPUS:Nein
In ISI Web of Science:Nein
Status:nicht veröffentlicht
Stichwörter:assistance robots, intrinsically compliant systems, variable compliance actuation
Veranstaltungstitel:IROS, International Conference on Intelligent Robots and Systems
Veranstaltungsort:Hamburg
Veranstaltungsart:internationale Konferenz
Veranstaltungsbeginn:28 September 2015
Veranstaltungsende:2 Oktober 2015
Veranstalter :IEEE/RSJ
HGF - Forschungsbereich:Luftfahrt, Raumfahrt und Verkehr
HGF - Programm:Raumfahrt
HGF - Programmthema:Technik für Raumfahrtsysteme
DLR - Schwerpunkt:Raumfahrt
DLR - Forschungsgebiet:R SY - Technik für Raumfahrtsysteme
DLR - Teilgebiet (Projekt, Vorhaben):R - On-Orbit Servicing [SY]
Standort: Oberpfaffenhofen
Institute & Einrichtungen:Institut für Robotik und Mechatronik (ab 2013)
Hinterlegt von: Beinhofer, Gabriele
Hinterlegt am:04 Jan 2016 11:17
Letzte Änderung:24 Apr 2024 20:07

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