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Haptic perception in human robotic systems

  • Heinz Wörn
  • Catherina R. Burghart
  • Karsten Weiß
  • Dirk Göger

Abstract

Why is haptic perception essential in human robotic systems? This question is often posed in connection with humanoid robots. First of all, humanoid robots are intended to assist people in a typical human environment. A person expects a humanoid robot to think, move, act, and communicate in a human-like manner. This also includes the usage of typical human senses like vision, hearing and tactile sensing. Second, a robot manipulating items in an unstructured environment like a person’s home needs to have some haptic feedback: information whether an item is firmly grasped or sliding is important for handling objects. Third, different kinds of haptic and tactile feedback are required for moving and acting in a human-built environment: collision detection just as well as haptic feedback for actions or control by a human operator.

Keywords

Humanoid Robot Sensor Cell Collision Detection Tactile Sensor Haptic Feedback 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Selected readings

  1. Burghart C, Haeussling R (2005) EvaluProceedings of the AISB’05 Conference, Workshop on Robot Companions, Hatfield, Hertfordshire, England, April 2005Google Scholar
  2. Yigit S, Burghart C, Wörn H (2004) Co-operative carrying using pump-like constraints. IEEE-RAS International Conference on Intelligent Robots and Systems, Sendai, Japan, September 2004Google Scholar
  3. Kerpa O, Yigit S, Osswald D, Burghart C, Wörn H (2003) Arm-hand-control by tactile sensing for human robot co-operation. Humanoids 03, October 2003, KarlsruheGoogle Scholar
  4. Göger D, Weiß K, Burghart C, Wörn H (2006) Sensitive skin for a humanoid robot. HCRs’06, München, October 2006Google Scholar
  5. Burghart C (2006) Human-robot-cooperation. In: W Luther and D Soeffker (eds) In: Guidance and control of autonomous systems, Logos-Verlag, BerlinGoogle Scholar

Recommended websites

  1. SFB 588, German Humanoid Project, Homepage. 16.1.2008 http://www.sfb588.uni-karlsruhe.de/Google Scholar
  2. Institute of Process Control and Robotics Homepage. 16.1.2008 http://wwwipr.ira.uka.deGoogle Scholar

Copyright information

© Birkhäuser Verlag 2008

Authors and Affiliations

  • Heinz Wörn
    • 1
  • Catherina R. Burghart
    • 1
  • Karsten Weiß
    • 1
  • Dirk Göger
    • 1
  1. 1.Institute of Process Control and RoboticsUniversity of KarlsruheKarlsruheGermany

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