Modular state-based behavior control for safe human-robot interaction: A lightweight control architecture for a lightweight robot

摘要：

In this paper we present a novel control architecture for realizing human-friendly behaviors and intuitive state based programming. The design implements strategies that take advantage of sophisticated soft-robotics features for providing reactive, robust, and safe robot actions in dynamic environments. Quick access to the various functionality of the robot enables the user to develop flexible hybrid state automata for programming complex robot behaviors. The real-time robot control takes care of all safety critical aspects and provides reactive reflexes that directly respond to external stimuli.

作者: Sven Parusel Sami Haddadin Alin Albu-Sch(a)ffer

作者单位: German Aerospace Center,P.O. Box 1116,D-82230 Wessling,Germany

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 4298-4305

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）