DocumentCode
329957
Title
Dynamically shared control in human-robot teams through physical interactions
Author
Hoeniger, Thomas
Author_Institution
Dept. of Comput. Sci., Karlsruhe Univ., Germany
Volume
2
fYear
1998
fDate
13-17 Oct 1998
Firstpage
744
Abstract
An intelligent robot control scheme is presented which enables a cooperative work of humans and robots through direct contact interaction in a partially known environment. The control of the degrees of freedom of the manipulator is shared through a hybrid controller between the operator and the intelligent control system. The allocation of the control among human and robot occurs dynamically according to the state of the task execution and the capabilities of the human and the robot. Experiments were conducted to prove the effectiveness of our concept
Keywords
distributed control; force control; intelligent control; man-machine systems; manipulators; position control; user interfaces; direct contact interaction; dynamically shared control; human-robot teams; hybrid controller; intelligent robot control scheme; physical interactions; task execution; Cognitive robotics; Control systems; Human robot interaction; Intelligent control; Intelligent robots; Manipulators; Medical robotics; Robot sensing systems; Service robots; Uncertainty;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 1998. Proceedings., 1998 IEEE/RSJ International Conference on
Conference_Location
Victoria, BC
Print_ISBN
0-7803-4465-0
Type
conf
DOI
10.1109/IROS.1998.727282
Filename
727282
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