A Safe-Control Paradigm for Human–Robot Interaction

Authors:
J. Heinzmann;A. Zelinsky
Affiliations:
The Australian National University, Canberra ACT 0200, Australia;The Australian National University, Canberra ACT 0200, Australia
Venue:
Journal of Intelligent and Robotic Systems
Year:
1999

Citing 3
Cited 6

Recognizing solid objects by alignment with an image

International Journal of Computer Vision
Autonomous Road Vehicle Guidance in Normal Traffic

ACCV '95 Invited Session Papers from the Second Asian Conference on Computer Vision: Recent Developments in Computer Vision
3-D Facial Pose and Gaze Point Estimation Using a Robust Real-Time Tracking Paradigm

FG '98 Proceedings of the 3rd. International Conference on Face & Gesture Recognition

SARA: A Robotic System For Cars Fuelling

Journal of Intelligent and Robotic Systems
Human–Machine Interaction in Intelligent Robotic Systems: A Unifying Consideration with Implementation Examples

Journal of Intelligent and Robotic Systems
On cost-effectiveness of human-centered and socially acceptable robot and automation systems

Robotica
A study on usability of human-robot interaction using a mobile computer and a human interface device

Proceedings of the 9th international conference on Human computer interaction with mobile devices and services
A robotic system for home security enhancement

ICOST'10 Proceedings of the Aging friendly technology for health and independence, and 8th international conference on Smart homes and health telematics
Hybrid fusion of linear, non-linear and spectral models for the dynamic modeling of sEMG and skeletal muscle force: An application to upper extremity amputation

Computers in Biology and Medicine

Quantified Score

Hi-index	0.00

Visualization

Abstract

This paper introduces a new approach to control a robot manipulator in a way that is safe for humans in the robot‘s workspace. Conceptually the robot is viewed as a tool with limited autonomy. The limited perception capabilities of automatic systems prohibits the construction of failsafe robots of the capability of people Instead, the goal of our control paradigm is to make the interaction with a robot manipulator safe by making the robot‘s actions predictable and understandable to the human operator. At the same time the forces the robot applies with any part of its body to its environment have to be controllable and limited. Experimental results are presented of a human-friendly robot controller that is under development for a Barrett Whole Arm Manipulator robot.