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A safe-control paradigm for human-robot interaction

Date

1999

Authors

Heinzmann, J
Zelinsky, Alex

Journal Title

Journal ISSN

Volume Title

Publisher

Kluwer Academic Publishers

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.

Description

Keywords

Keywords: Human-robot interaction; Human-robot interfaces; Visual interfaces

Citation

Source

Journal of Intelligent and Robotic Systems

Type

Journal article

Book Title

Entity type

Access Statement

License Rights

DOI

Restricted until

2037-12-31