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International Conference on Social Robotics

ICSR 2013: Social Robotics pp 40–53Cite as

Automated Assistance Robot System for Transferring Model-Free Objects From/To Human Hand Using Vision/Force Control

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Part of the Lecture Notes in Computer Science book series (LNAI,volume 8239)

Abstract

This paper will propose an assistance robot system which is able to transfer model-free objects from/to human hand with the help of visual servoing and force control. The proposed robot system is fully automated, i.e. the handing-over task is performed exclusively by the robot and the human will be considered as the weakest party, e.g. elderly, disabled, blind, etc. The proposed system is supported with different real time vision algorithms to detect, to recognize and to track: 1. Any object located on flat surface or conveyor. 2. Any object carried by human hand. 3. The loadfree human hand. Furthermore, the proposed robot system has integrated vision and force feedback in order to: 1. Perform the handing-over task successfully starting from the free space motion until the full physical human-robot integration. 2. Guarantee the safety of the human and react to the motion of the human hand during the handing-over task. The proposed system has shown a great efficiency during the experiments.

Keywords

  • Assistance robots
  • human-robot interaction
  • visual servoing
  • force control
  • handing-over tasks

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  • DOI: 10.1007/978-3-319-02675-6_5
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Author information

Authors and Affiliations

  1. Department of Robotic Systems, Chemnitz University of Technology, Chemnitz, Germany

    Mohamad Bdiwi, Jozef Suchý & Alexander Winkler

  2. Automation Department, Novosibirsk State Technical University, Novosibirsk, Russia

    Alexey Kolker

Authors
  1. Mohamad Bdiwi
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  2. Alexey Kolker
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  3. Jozef Suchý
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  4. Alexander Winkler
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Editor information

Editors and Affiliations

  1. Bristol Robotics Laboratory, University of the West of England, BS348QZ, Bristol, UK

    Guido Herrmann

  2. Bristol Robotics Laboratory, University of the West of England, BS161QD, UK

    Martin J. Pearson

  3. Bristol Robotics Laboratory, University of the West of England, BS161QY, Bristol, UK

    Alexander Lenz, Paul Bremner, Adam Spiers & Ute Leonards, ,  & 

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Bdiwi, M., Kolker, A., Suchý, J., Winkler, A. (2013). Automated Assistance Robot System for Transferring Model-Free Objects From/To Human Hand Using Vision/Force Control. In: Herrmann, G., Pearson, M.J., Lenz, A., Bremner, P., Spiers, A., Leonards, U. (eds) Social Robotics. ICSR 2013. Lecture Notes in Computer Science(), vol 8239. Springer, Cham. https://doi.org/10.1007/978-3-319-02675-6_5

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  • DOI: https://doi.org/10.1007/978-3-319-02675-6_5

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-02674-9

  • Online ISBN: 978-3-319-02675-6

  • eBook Packages: Computer ScienceComputer Science (R0)