Multimodal Control for Human-Robot Cooperation

Andrea Cherubini 1 Robin Passama 1 Arnaud Meline 1 André Crosnier 1 Philippe Fraisse 1
1 IDH - Interactive Digital Humans
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : 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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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00914416
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Submitted on : Thursday, December 5, 2013 - 2:11:44 PM
Last modification on : Friday, April 12, 2019 - 5:20:05 PM
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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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