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Conference Papers Year : 2013

Multimodal Control for Human-Robot Cooperation

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Andrea Cherubini
Robin Passama
Arnaud Meline
  • Function : Author
  • PersonId : 880249
André Crosnier
  • Function : Author
  • PersonId : 938570
Philippe Fraisse

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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Dates and versions

lirmm-00914416 , version 1 (05-12-2013)

Identifiers

  • HAL Id : lirmm-00914416 , version 1

Cite

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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