FREE: Flexible and Safe Interactive Human-Robot Environment for Small Batch Exacting Applications

  • Dario AntonelliEmail author
  • Sergey Astanin
  • Gabriella Caporaletti
  • Francesco Donati
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 94)


The FREE experiment addresses the field of small-batch production where handwork is still the main manufacturing option since automation is more expensive and lacks the prescribed flexibility. FREE aims at addressing this situation by introducing a flexible and safe interactive human-robot environment, achievable through a combination of standard commercial robot equipments with the state of the art safety and control technologies. The core idea is to add to the system a further control loop operating at a level hierarchically superior with respect to the standard robot controller. Such a control loop, defined “Superior Hierarchical Control”, is the interface between the robot and the human operator through a variety of sensors providing contact-less human position detection for safety and human work recording for task learning.


Training by demonstration automated welding human-robot interaction 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Dario Antonelli
    • 1
    Email author
  • Sergey Astanin
    • 1
  • Gabriella Caporaletti
    • 2
  • Francesco Donati
    • 2
  1. 1.Department of Production Systems and EconomicsPolitecnico di TorinoTorinoItaly
  2. 2.EICAS AutomazioneTorinoItaly

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