Toward Safe Human Robot Interaction: Integration of Compliant Control, An Anthropomorphic Hand and Verbal Communication

Said Ghani Khan, Alexander Lenz, Guido Herrmann, Tony Pipe, Chris Melhuish

    Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

    Abstract

    In this paper an integrated system for human robot interaction is presented. It is demonstrated that safety features in human robot interaction can be engineered by combining a robotic arm, equipped with a compliant controller, an anthropomorphic robot hand and a spoken language communication system. A simplified human-robot interaction scenario, based on a typical care robot situation, is exploited to show that safety can be enhanced by the monitoring of torques and motor currents to establish contact with the environment. Furthermore, spoken language is utilised to resolve potentially dangerous contact situations.
    Original languageEnglish
    Title of host publicationNext Wave in Robotics
    Subtitle of host publication14th FIRA RoboWorld Congress, FIRA 2011
    EditorsTzuu-Hseng S. Li, Kuo-Yang Tu, Ching-Chih Tsai, Chen-Chien Hsu, Chien-Cheng Tseng, Prahlad Vadakkepat, Jacky Baltes, John Anderson, Ching-Chang Wong, Norbert Jesse, Chung-Hsien Kuo, Haw-Ching Yang
    Place of PublicationBerlin, Heidelberg
    PublisherSpringer Nature
    Pages17-24
    Number of pages8
    Volume212
    ISBN (Electronic)9783642231476
    ISBN (Print)9783642231469
    DOIs
    Publication statusPublished - 2011

    Publication series

    NameCommunications in Computer and Information Science
    PublisherSpringer

    Keywords

    • Motor Current
    • Human Robot Interaction
    • Verbal Utterance
    • Rapid Application Development
    • Model Reference Adaptive Controller

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