Title :
Supervision and motion planning for a mobile manipulator interacting with humans
Author :
Sisbot, E. Akin ; Clodic, Aur?©lie ; Alami, Rachid ; Ransan, Maxime
Author_Institution :
LAAS, Univ. of Toulouse, Toulouse, France
Abstract :
Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of action introduces security constraints as well as comfort considerations which must be taken into account at the motion planning and control level. This paper presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware manipulation planner and a supervision system dedicated to collaborative task achievement.
Keywords :
decision making; human-robot interaction; manipulators; mobile robots; path planning; adapted behavior; adapted tools; comfort considerations; decision making; human aware manipulation planner; human interaction; human robot collaborative task achievement; human robot interaction; mobile manipulator; motion computation; motion planning; robotic architecture; security constraints; supervision system; synchronized behavior; Collaboration; Humans; Monitoring; Planning; Robot kinematics; Safety;
Conference_Titel :
Human-Robot Interaction (HRI), 2008 3rd ACM/IEEE International Conference on
Print_ISBN :
978-1-60558-017-3