Supervision and motion planning for a mobile manipulator interacting with humans

Authors:
Emrah Akin Sisbot;Aurelie Clodic;Rachid Alami;Maxime Ransan
Affiliations:
LAAS/CNRS and University of Toulouse, Toulouse, France;LAAS/CNRS and University of Toulouse, TOULOUSE, France;LAAS/CNRS and University of Toulouse, TOULOUSE, France;LAAS/CNRS and University of Toulouse, TOULOUSE, France
Venue:
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Year:
2008

Citing 10
Cited 0

Collaborative plans for complex group action

Artificial Intelligence
COLLAGEN: when agents collaborate with people

AGENTS '97 Proceedings of the first international conference on Autonomous agents
Real-time inverse kinematics techniques for anthropomorphic limbs

Graphical Models and Image Processing
An inverse kinematics architecture enforcing an arbitrary number of strict priority levels

The Visual Computer: International Journal of Computer Graphics - Special section on implicit surfaces
Explorations in engagement for humans and robots

Artificial Intelligence
The human-robot interaction operating system

Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
How may I serve you?: a robot companion approaching a seated person in a helping context

Proceedings of the 1st ACM SIGCHI/SIGART conference on Human-robot interaction
Pre-collision safety strategies for human-robot interaction

Autonomous Robots
Towards flexible teamwork

Journal of Artificial Intelligence Research
Natural motion animation through constraining and deconstraining at will

IEEE Transactions on Visualization and Computer Graphics

Quantified Score

Hi-index	0.00

Visualization

Abstract

Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of action introduces security constraints as well as comfort considerations which must be taken into account at the motion planning and control level. This paper presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware manipulation planner and a supervision system dedicated to collaborative task achievement.