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Conference Papers Year : 2013

Multimodal Control for Human-Robot Cooperation

Andrea Cherubini
Robin Passama
Arnaud Meline
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André Crosnier
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Philippe Fraisse


For intuitive human-robot collaboration, the robot must quickly adapt to the human behavior. To this end, we propose a multimodal sensor-based control framework, enabling a robot to recognize human intention, and consequently adapt its control strategy. Our approach is marker-less, relies on a Kinect and on an on-board camera, and is based on a unified task formalism. Moreover, we validate it in a mock-up industrial scenario, where human and robot must collaborate to insert screws in a flank.
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lirmm-00914416 , version 1 (05-12-2013)


  • HAL Id : lirmm-00914416 , version 1


Andrea Cherubini, Robin Passama, Arnaud Meline, André Crosnier, Philippe Fraisse. Multimodal Control for Human-Robot Cooperation. IROS: Intelligent RObots and Systems, Nov 2013, Tokyo, Japan. pp.2202-2207. ⟨lirmm-00914416⟩
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