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Erschienen in:
2000 | OriginalPaper | Buchkapitel
Building Human-Friendly Robot Systems
verfasst von : J. Heinzmann, A. Zelinsky
Erschienen in: Robotics Research
Verlag: Springer London
Enthalten in: Professional Book Archive
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To develop human friendly robots we required two key components; smart interfaces and safe mechanisms. Smart interfaces facilitate natural and easy interfaces for human-robot interaction. Facial gestures can be a natural way to control a robot. In this paper, we report on a vision-based interface that in real-time tracks a user’s facial features and gaze point. Human friendly robots must also have high integrity safety systems that ensure that people are never harmed. To guarantee human safety we require manipulator mechanisms in which all actuators are force controlled in a manner that prevents dangerous impacts with people and the environment. In this paper we present a control scheme for a whole arm manipulator (WAM) which allows for safe human-robot interaction.