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Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society

Haddadin, Sami and Parusel, Sven and Belder, Rico and Albu-Schäffer, Alin and 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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Abstract

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.

Item URL in elib:https://elib.dlr.de/73733/
Document Type:Conference or Workshop Item (Speech, Paper)
Title:Safe Acting and Manipulation in Human Environments: A Key Concept for Robots in our Society
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Haddadin, SamiSami.Haddadin (at) dlr.deUNSPECIFIED
Parusel, SvenSven.Parusel (at) dlr.deUNSPECIFIED
Belder, RicoRico.Belder (at) dlr.deUNSPECIFIED
Albu-Schäffer, AlinAlin.Albu-Schaeffer (at) dlr.deUNSPECIFIED
Hirzinger, GerdGerd.Hirzinger (at) dlr.deUNSPECIFIED
Date:10 January 2012
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:Published
Keywords:sichere Mensch-Roboter Interaktion, reaktive Planung, Biomechanik, Soft-robotics
Event Title:ARSO, A Worshop on Advanced Robotics and its Social Impacts
Event Location:Half-Moon Bay, USA
Event Type:international Conference
Organizer:IEEE
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - RMC - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Beinhofer, Gabriele
Deposited On:10 Jan 2012 08:48
Last Modified:31 Jul 2019 19:34

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