Touch: The direct type of human interaction with a redundant service robot

Author

Grunwald, G. ; Schreiber, G. ; Albu-Schaffer, Alin ; Hirzinger, G.

Author_Institution

Inst. of Robotics & Mechatronics, German Aerosp. Center, Wessling, Germany

fYear

2001

fDate

2001

Firstpage

347

Lastpage

352

Abstract

The mobile service robots will share their workspaces e.g. offices, hospitals or households with humans. Thus a direct contact between man and machine is inevitable. Robots equipped with appropriate sensors can sense the touch. In this paper we present how an untrained user can intuitively interact with the new DLR light-weight robot just by touching the arm. The robot with 7 dof\´s will react by an evasiveness motion of the touched links while retaining the orientation of the TCP. This feature can also be used for programming the robot. Programming by "touch" is very intuitive as you take the robot at hand and demonstrate the movements

Keywords

redundant manipulators; robot programming; DLR lightweight robot; Touch; evasiveness motion; human interaction; mobile service robots; redundant service robot; robot programming; Education; Educational robots; Human robot interaction; Intelligent robots; Kinematics; Machine intelligence; Mobile robots; Robot programming; Robot sensing systems; Service robots;

fLanguage

English

Publisher

ieee

Conference_Titel

Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on

Conference_Location

Bordeaux, Paris

Print_ISBN

0-7803-7222-0

Type

conf

DOI

10.1109/ROMAN.2001.981928

Filename

981928