FLEXIBLE TRAJECTORY GENERATION TO EXTEND HUMAN-ROBOT INTERACTION WITH DYNAMIC ENVIRONMENT ADAPTATION

Xavier Giralt, Josep Amat

Abstract

In our daily life, we use many elements that help us by means of a higher protection level (thimble, door stop) or by improving our dexterity (funnel, compasses). Both kinds of elements allow us to execute well known tasks with less concentration, faster, and, above all, improving performance. Like the real tools mentioned above, in the robotics field, virtual constraints enhance human-machine interaction. This work presents a multi-parametric behaviour model for an agent that increases task safety, and enables higher integration possibilities. The model presented here allows the perturbation of a programmed task, by introducing virtual elastic and viscous forces. This work presents the behaviour model, a description of it’s implementation and experimental results in human-robot interaction.

References

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Paper Citation


in Harvard Style

Giralt X. and Amat J. (2008). FLEXIBLE TRAJECTORY GENERATION TO EXTEND HUMAN-ROBOT INTERACTION WITH DYNAMIC ENVIRONMENT ADAPTATION . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 211-214. DOI: 10.5220/0001501102110214


in Bibtex Style

@conference{icinco08,
author={Xavier Giralt and Josep Amat},
title={FLEXIBLE TRAJECTORY GENERATION TO EXTEND HUMAN-ROBOT INTERACTION WITH DYNAMIC ENVIRONMENT ADAPTATION},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={211-214},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001501102110214},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - FLEXIBLE TRAJECTORY GENERATION TO EXTEND HUMAN-ROBOT INTERACTION WITH DYNAMIC ENVIRONMENT ADAPTATION
SN - 978-989-8111-31-9
AU - Giralt X.
AU - Amat J.
PY - 2008
SP - 211
EP - 214
DO - 10.5220/0001501102110214