Human interaction with a service robot: mobile-manipulator handing over an object to a human

Author

Agah, Arvin ; Tanie, Kazuo

Author_Institution

Biorobotic Div., AIST-MITI, Tsukuba, Japan

Volume

1

fYear

1997

fDate

20-25 Apr 1997

Firstpage

575

Abstract

The interaction of a human and a service robot through the hand-over task is studied in this paper. Control issues are addressed for a service mobile-manipulator delivering and handing over objects to a human. The Contention Architecture controller is designed and implemented allowing for such task to be accomplished in a safe manner, as it requires coexistence and close interaction of the robot and the human. Experimental results of a realistic computer simulation are presented where a 75 kilogram human receives an object from a mobile manipulator with three degrees of freedom. The robot is capable of handing over the object to human, and compensating for unexpected movements of the human through its arm motion and base movement

Keywords

compensation; cooperative systems; man-machine systems; manipulators; mobile robots; 75 kg; Contention Architecture controller; arm motion; base movement; compensation; computer simulation; hand-over task; human interaction; mobile-manipulator; service robot; Computer architecture; Computer simulation; Human robot interaction; Mobile robots; Motion control; Orbital robotics; Robot control; Robot sensing systems; Service robots; Space technology;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on

Conference_Location

Albuquerque, NM

Print_ISBN

0-7803-3612-7

Type

conf

DOI

10.1109/ROBOT.1997.620098

Filename

620098