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Experimental Robotics VI pp 487–498Cite as

Towards human friendly robots: Vision-based interfaces and safe mechanisms

  • Chapter 12 Humanoid And Human Interaction
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Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 250))

Abstract

To develop human friendly robots we required two key components; smart interfaces and safe mechanisms. Smart interfaces facilitate natural and easy interfaces for human-robot interaction. Facial gestures can be a natural way to control a robot. In this paper, we report on a vision-based interface that in real-time tracks a user’s facial features and gaze point. Human friendly robots must also have high integrity safety systems that ensure that people are never harmed. To guarantee human safety we require manipulator mechanisms in which all actuators are force controlled in a manner that prevents dangerous impacts with people and the environment. In this paper we present a control scheme for the Barrett-MIT whole arm manipulator (WAM) which allows people to safely interact with the robot.

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Authors and Affiliations

  1. Research School of Information Sciences and Engineering, The Australian National University, 0200, Canberra, ACT, Australia

    A. Zelinsky, Y. Matsumoto, J. Heinzmann & R. Newman

Authors
  1. A. Zelinsky
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  2. Y. Matsumoto
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  3. J. Heinzmann
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  4. R. Newman
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© 2000 Springer-Verlag London Limited

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Zelinsky, A., Matsumoto, Y., Heinzmann, J., Newman, R. (2000). Towards human friendly robots: Vision-based interfaces and safe mechanisms. In: Experimental Robotics VI. Lecture Notes in Control and Information Sciences, vol 250. Springer, London. https://doi.org/10.1007/BFb0119426

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  • DOI: https://doi.org/10.1007/BFb0119426

  • Published:

  • Publisher Name: Springer, London

  • Print ISBN: 978-1-85233-210-5

  • Online ISBN: 978-1-84628-541-7

  • eBook Packages: Springer Book Archive

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