Haddadin, Sami und Parusel, Sven und Belder, Rico und Albu-Schäffer, Alin und Hirzinger, Gerd (2012) Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society. ARSO, A Worshop on Advanced Robotics and its Social Impacts, Half-Moon Bay, USA.
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Kurzfassung
In this paper we review our work on safe acting and manipulation in human environments. In order for a robot to be able to safely interact with its environment it is primary to be able to react to unforeseen events in real-time on basically all levels of abstraction. Having this goal in mind, our contributions reach from fundamental understanding of human injury due to robot-human collisions as the underlying metric for “safe” behavior, various interaction control schemes that ground on the basic components impedance control and collision behavior, to real-time motion planning and behavior based control as an interface level for task planning. A significant amount of this work has found found its way into international standardization committees, products, and was applied in numerous real-world applications.
elib-URL des Eintrags: | https://elib.dlr.de/73733/ | ||||||||||||||||||||||||
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Dokumentart: | Konferenzbeitrag (Vortrag, Paper) | ||||||||||||||||||||||||
Titel: | Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society | ||||||||||||||||||||||||
Autoren: |
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Datum: | 10 Januar 2012 | ||||||||||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||||||||||
Open Access: | Ja | ||||||||||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||||||||||
In SCOPUS: | Nein | ||||||||||||||||||||||||
In ISI Web of Science: | Nein | ||||||||||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||||||||||
Stichwörter: | sichere Mensch-Roboter Interaktion, reaktive Planung, Biomechanik, Soft-robotics | ||||||||||||||||||||||||
Veranstaltungstitel: | ARSO, A Worshop on Advanced Robotics and its Social Impacts | ||||||||||||||||||||||||
Veranstaltungsort: | Half-Moon Bay, USA | ||||||||||||||||||||||||
Veranstaltungsart: | internationale Konferenz | ||||||||||||||||||||||||
Veranstalter : | IEEE | ||||||||||||||||||||||||
HGF - Forschungsbereich: | Verkehr und Weltraum (alt) | ||||||||||||||||||||||||
HGF - Programm: | Weltraum (alt) | ||||||||||||||||||||||||
HGF - Programmthema: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Schwerpunkt: | Weltraum | ||||||||||||||||||||||||
DLR - Forschungsgebiet: | W SY - Technik für Raumfahrtsysteme | ||||||||||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | W - RMC - Mechatronik und Telerobotik (alt) | ||||||||||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (bis 2012) | ||||||||||||||||||||||||
Hinterlegt von: | Beinhofer, Gabriele | ||||||||||||||||||||||||
Hinterlegt am: | 10 Jan 2012 08:48 | ||||||||||||||||||||||||
Letzte Änderung: | 11 Sep 2023 13:21 |
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