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Supervision and motion planning for a mobile manipulator interacting with humans

Published: 12 March 2008 Publication History

Abstract

Human Robot collaborative task achievement requires adapted tools and algorithms for both decision making and motion computation. The human presence as well as its behavior must be considered and actively monitored at the decisional level for the robot to produce synchronized and adapted behavior. Additionally, having a human within the robot range of action introduces security constraints as well as comfort considerations which must be taken into account at the motion planning and control level. This paper presents a robotic architecture adapted to human robot interaction and focuses on two tools: a human aware manipulation planner and a supervision system dedicated to collaborative task achievement.

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  • (2023)Human–Robot Interaction Video Sequencing Task (HRIVST) for Robot's Behavior LegibilityIEEE Transactions on Human-Machine Systems10.1109/THMS.2023.332713253:6(975-984)Online publication date: Dec-2023
  • (2020)Assessment of Handover Prediction Models in Estimation of Cycle Times for Manual Assembly Tasks in a Human–Robot Collaborative EnvironmentApplied Sciences10.3390/app1002055610:2(556)Online publication date: 12-Jan-2020
  • (2018)HATPProceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems10.5555/3237383.3237990(1823-1825)Online publication date: 9-Jul-2018
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    cover image ACM Conferences
    HRI '08: Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
    March 2008
    402 pages
    ISBN:9781605580173
    DOI:10.1145/1349822
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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    Publication History

    Published: 12 March 2008

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    Author Tags

    1. hri
    2. motion planning
    3. robot architecture
    4. supervision

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    HRI '08
    HRI '08: International Conference on Human Robot Interaction
    March 12 - 15, 2008
    Amsterdam, The Netherlands

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    Overall Acceptance Rate 268 of 1,124 submissions, 24%

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    View all
    • (2023)Human–Robot Interaction Video Sequencing Task (HRIVST) for Robot's Behavior LegibilityIEEE Transactions on Human-Machine Systems10.1109/THMS.2023.332713253:6(975-984)Online publication date: Dec-2023
    • (2020)Assessment of Handover Prediction Models in Estimation of Cycle Times for Manual Assembly Tasks in a Human–Robot Collaborative EnvironmentApplied Sciences10.3390/app1002055610:2(556)Online publication date: 12-Jan-2020
    • (2018)HATPProceedings of the 17th International Conference on Autonomous Agents and MultiAgent Systems10.5555/3237383.3237990(1823-1825)Online publication date: 9-Jul-2018
    • (2017)Efficient human-robot collaboration: When should a robot take initiative?The International Journal of Robotics Research10.1177/027836491668825336:5-7(563-579)Online publication date: 5-Feb-2017
    • (2017)Artificial cognition for social humanrobot interactionArtificial Intelligence10.1016/j.artint.2016.07.002247:C(45-69)Online publication date: 1-Jun-2017
    • (2017)A Robot that Distributes Flyers to Pedestrians in a Shopping MallInternational Journal of Social Robotics10.1007/s12369-017-0442-710:4(421-437)Online publication date: 18-Nov-2017
    • (2016)Analysis of an adaptive strategy for equitably approaching and joining human interactions2016 25th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN)10.1109/ROMAN.2016.7745153(341-346)Online publication date: Aug-2016
    • (2016)Initiative in robot assistance during collaborative task execution2016 11th ACM/IEEE International Conference on Human-Robot Interaction (HRI)10.1109/HRI.2016.7451735(67-74)Online publication date: Mar-2016
    • (2015)The HATP hierarchical planner: Formalisation and an initial study of its usability and practicality2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)10.1109/IROS.2015.7354301(6465-6472)Online publication date: Sep-2015
    • (2015)On Planning and Task Achievement Modalities for Human-Robot CollaborationExperimental Robotics10.1007/978-3-319-23778-7_20(293-306)Online publication date: 13-Nov-2015
    • Show More Cited By

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