In this paper an integrated system for human robot interaction is presented. It is demonstrated that safety features in human robot interaction can be engineered by combining a robotic arm, equipped with a compliant controller, an anthropomorphic robot hand and a spoken language communication system. A simplified human-robot interaction scenario, based on a typical care robot situation, is exploited to show that safety can be enhanced by the monitoring of torques and motor currents to establish contact with the environment. Furthermore, spoken language is utilised to resolve potentially dangerous contact situations.
|Translated title of the contribution||Toward Safe Human Robot Interaction: Integration of Compliant Control, An Anthropomorphic Hand and Verbal Communication|
|Title of host publication||FIRA2011 RoboWorld Cup & Congress, Kaohsiung, Taiwan|
|Publication status||Published - 2011|
Bibliographical noteName and Venue of Event: FIRA2011 RoboWorld Cup & Congress, Kaohsiung, Taiwan
Conference Organiser: Federation of International Robotsoccer Association (FIRA)