ICRA 2011 Paper Abstract


Paper WeP211.6

Parusel, Sven (German Aerospace Center), Haddadin, Sami (German Aerospace Center (DLR)), Albu-Schäffer, Alin (DLR - German Aerospace Center)

Modular State-Based Behavior Control for Safe Human-Robot Interaction: A Lightweight Control Architecture for a Lightweight Robot

Scheduled for presentation during the Regular Sessions "Physical Human-Robot Interaction II" (WeP211), Wednesday, May 11, 2011, 16:40−16:55, Room 5F

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Physical Human-Robot Interaction, Robot Safety, Behaviour-Based Systems


In this paper we present a novel control architecture for realizing human-friendly behaviors and intuitive state based programming. The design implements strategies that take advantage of sophisticated soft-robotics features for providing reactive, robust, and safe robot actions in dynamic environments. Quick access to the various functionality of the robot enables the user to develop flexible hybrid state automata for programming complex robot behaviors. The real-time robot control takes care of all safety critical aspects and provides reactive reflexes that directly respond to external stimuli.



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