Grasping and guiding a human with a humanoid robot
This paper presents a novel approach for tightly-coupled human-robot interaction that consists of a robot actively grasping and guiding a human being. We propose a multi-stage procedure that particularly considers exceptional conditions which allow the human to quit the interaction at any stage. The...
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Published in | Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots pp. 623 - 628 |
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Main Authors | , , , |
Format | Conference Proceeding |
Language | English |
Published |
IEEE
01.12.2008
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Subjects | |
Online Access | Get full text |
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Summary: | This paper presents a novel approach for tightly-coupled human-robot interaction that consists of a robot actively grasping and guiding a human being. We propose a multi-stage procedure that particularly considers exceptional conditions which allow the human to quit the interaction at any stage. The system comprises a combination of different sensor modalities to supervise the grasping and guiding procedure and to guarantee a safe human-robot interaction. In particular, a capacitive sensor in the palm of the robot hand allows a contactless detection of the human while approaching. Finally, experimental results are presented. |
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ISBN: | 9781424428212 1424428211 |
ISSN: | 2164-0572 |
DOI: | 10.1109/ICHR.2008.4756015 |