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AROBOTS
2008

Controller design for human-robot interaction

11 years 8 months ago
Controller design for human-robot interaction
Many robotics tasks require a robot to share the same workspace with humans. In such settings, it is important that the robot performs in such a way that does not cause distress to humans in the workspace. In this paper, we address the problem of designing robot controllers which minimize the stress caused by the robot while performing a given task. We present a novel, data-driven algorithm which computes human-friendly trajectories. The algorithm utilizes biofeedback measurements and combines a set of geometric controllers to achieve human friendliness. We evaluate the comfort level of the human using a Galvanic Skin Response (GSR) sensor. We present results from a human tracking task, in which the robot is required to stay within a specified distance without causing high stress values.
Eric Meisner, Volkan Isler, Jeff Trinkle
Added 08 Dec 2010
Updated 08 Dec 2010
Type Journal
Year 2008
Where AROBOTS
Authors Eric Meisner, Volkan Isler, Jeff Trinkle
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