Synthesizing Robot Motions Adapted to Human Presence
Synthesizing Robot Motions Adapted to Human Presence
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DOI：
10.1007/s12369-010-0059-6
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发表时间：
2010-09-01
影响因子：
4.7
通讯作者：
Alami, Rachid
中科院分区：
文献类型：
--
作者：
Sisbot, Emrah Akin;Marin-Urias, Luis F.;Alami, Rachid
随着机器人硬件变得越来越安全、合规，机器人距离走进我们的家已经不远了。机器人将与人类共享相同的环境，预计会考虑交互的几何形状并执行智能空间共享。在这种情况下，即使是最简单的任务，例如。 g。将物品交给某人时，提出重要问题，例如：任务应该在哪里完成？如何将机器人相对于人放置，以方便人的动作？；如何移交物品？；更一般地说，如何在人类存在的相对受限的环境中移动？
With robotics hardware becoming more and more safe and compliant, robots are not far from entering our homes. The robot, that will share the same environment with humans, will be expected to consider the geometry of the interaction and to perform intelligent space sharing.In this case, even the simplest tasks, e. g. handing over an object to a person, raise important questions such as: where the task should be achieved?; how to place the robot relatively to the human in order to ease the human action?; how to hand over an object?; and more generally, how to move in a relatively constrained environment in the presence of humans?