Abstract
The mobile service robots will share their workspaces e.g. offices, hospitals or households with humans. Thus a direct contact between man and machine is inevitably. Robots equipped with appropriate sensors can sense the touch. In this paper we present how an untrained user can intuitively communicate with a DLR light-weight robot just by touching the arm. The robot with 7 dof’s will react by an evasiveness motion of the touched links while remaining the orientation of the TCP. This feature will also be used for programming the robot. Programming by “Touch” is very intuitive as you take the robot at hand and demonstrate the robot-task.
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Grunwald, G., Schreiber, G., Albu-Schäffer, A., Hirzinger, G. Touch: The Intuitive Type of Human and Robot Interaction. In: Prassler, E., et al. Advances in Human-Robot Interaction. Springer Tracts in Advanced Robotics, vol 14. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-31509-4_2
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DOI: https://doi.org/10.1007/978-3-540-31509-4_2
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Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23211-7
Online ISBN: 978-3-540-31509-4
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