Human-Robot Interaction Control Using Force and Vision

  • Agostino De Santis
  • Vincenzo Lippiello
  • Bruno Siciliano
  • Luigi Villani
Part of the Lecture Notes in Control and Information Sciences book series (LNCIS, volume 353)

Abstract

The extension of application domains of robotics from factories to human environments leads to implementing proper strategies for close interaction between people and robots. In order to avoid dangerous collision, force and vision based control can be used, while tracking human motion during such interaction.

Keywords

Physical Human-Robot Interaction Interaction Control Impedance Control Visual Control Extended Kalman Filter 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2007

Authors and Affiliations

  • Agostino De Santis
    • 1
  • Vincenzo Lippiello
    • 1
  • Bruno Siciliano
    • 1
  • Luigi Villani
    • 1
  1. 1.Dipartimento di Informatica e SistemisticaUniversità di Napoli Federico IIItaly

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