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Robotics Research pp 305–312Cite as

Building Human-Friendly Robot Systems

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Abstract

To develop human friendly robots we required two key components; smart interfaces and safe mechanisms. Smart interfaces facilitate natural and easy interfaces for human-robot interaction. Facial gestures can be a natural way to control a robot. In this paper, we report on a vision-based interface that in real-time tracks a user’s facial features and gaze point. Human friendly robots must also have high integrity safety systems that ensure that people are never harmed. To guarantee human safety we require manipulator mechanisms in which all actuators are force controlled in a manner that prevents dangerous impacts with people and the environment. In this paper we present a control scheme for a whole arm manipulator (WAM) which allows for safe human-robot interaction.

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Author information

Authors and Affiliations

  1. Research School of Information Sciences and Engineering, The Australian National University, Canberra, ACT 0200, Australia

    J. Heinzmann & A. Zelinsky

Authors
  1. J. Heinzmann
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  2. A. Zelinsky
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Editor information

Editors and Affiliations

  1. Computer Science Department, University of Utah, 50 S. Central Campus Drive, Rm 3190, 84112, Salt Lake City, UT, USA

    John M. Hollerbach

  2. Department of Electrical Engineering & Computer Science, University of Michigan, 1101 Beal Avenue, 48109-2110, Ann Arbor, MI, USA

    Daniel E. Koditschek

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© 2000 Springer-Verlag London

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Heinzmann, J., Zelinsky, A. (2000). Building Human-Friendly Robot Systems. In: Hollerbach, J.M., Koditschek, D.E. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-0765-1_37

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  • DOI: https://doi.org/10.1007/978-1-4471-0765-1_37

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-4471-1254-9

  • Online ISBN: 978-1-4471-0765-1

  • eBook Packages: Springer Book Archive

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