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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Bibliographic Details
Published inHumanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots pp. 623 - 628
Main Authors Gorges, N., Schmid, A.J., Goger, D., Worn, H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.12.2008
Subjects
Capacitive sensors
Education
Educational robots
Fingers
Human robot interaction
Humanoid robots
Robot kinematics
Robot sensing systems
Sensor systems
Tactile sensors
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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.
ISBN:9781424428212
1424428211
ISSN:2164-0572
DOI:10.1109/ICHR.2008.4756015