DocumentCode :
3130197
Title :
Robots in human environments
Author :
Khatib, O. ; Yokoi, K. ; Brock, O. ; Chang, K. ; Casal, A.
Author_Institution :
Dept. of Comput. Sci., Stanford Univ., CA, USA
fYear :
1999
fDate :
1999
Firstpage :
213
Lastpage :
221
Abstract :
Discusses the basic capabilities needed to enable robots to operate in human populated environments for accomplishing both autonomous tasks and human-guided tasks. These capabilities are key to many new emerging robotic applications in service, construction, field, underwater, and space. An important characteristic of these robots is the “assistance” ability they can bring to humans in performing various physical tasks. To interact with humans and operate in their environments, these robots must be provided with the functionality of mobility and manipulation. The article presents developments of models, strategies, and algorithms concerned with a number of autonomous capabilities that are essential for robot operations in human environments. These capabilities include: integrated mobility and manipulation, cooperative skills between multiple robots, interaction ability with humans, and efficient techniques for real-time modification of collision-free path. These capabilities are demonstrated on two holonomic mobile platforms designed and built at Stanford University in collaboration with Oak Ridge National Laboratories and Nomadic Technologies
Keywords :
cooperative systems; decentralised control; man-machine systems; manipulators; mobile robots; path planning; position control; assistance ability; autonomous tasks; basic capabilities; collision-free path; cooperative skills; holonomic mobile platforms; human populated environments; human-guided tasks; interaction ability; manipulation; mobility; physical tasks; robot operations; Application software; Computer science; Hospitals; Human robot interaction; Laboratories; Manipulator dynamics; Manufacturing; Mobile robots; Orbital robotics; Robot kinematics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot Motion and Control, 1999. RoMoCo '99. Proceedings of the First Workshop on
Conference_Location :
Kiekrz
Print_ISBN :
0-7803-5655-1
Type :
conf
DOI :
10.1109/ROMOCO.1999.791078
Filename :
791078
Link To Document :
بازگشت