Sensor-based control of a collaborative robot - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2013

Sensor-based control of a collaborative robot

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


Flexible and reactive control of interaction between humans and robots will allow a closer cooperation in all service and industrial tasks, that require the adaptability skills of humans to be merged with the high performance of robots in terms of precision, speed and payload [2]. For this reason, recent research strives for intuitive human-robot cooperation, avoiding explicit clarification dialogue and commands. We believe that sensor-based methods, such as visual servoing, provide better solutions, for intuitive HRI, than planning techniques requiring a priori models of the environment and agents. To our knowledge, few works [2-4] have explicitly dealt with HRI using sensor-based control approaches. Our objective is similar: we aim at enabling intuitive interaction between human and robot, in the context of an industrial scenario, where the two must collaborate to realize a task. The robot must be able to infer the human intentions during the task, using only sensed data. The objective of this work is to enable a robot to aid a human operator in a screwing operation.
Fichier principal
Vignette du fichier
M2_hfr_cherubini.pdf (1.76 Mo) Télécharger le fichier
Origin Files produced by the author(s)

Dates and versions

lirmm-01247144 , version 1 (21-12-2015)


  • HAL Id : lirmm-01247144 , version 1


Andrea Cherubini, Robin Passama, Arnaud Meline, André Crosnier, Philippe Fraisse. Sensor-based control of a collaborative robot. HFR: Human-Friendly Robotics, Sep 2013, Rome, Italy. ⟨lirmm-01247144⟩
369 View
220 Download


Gmail Mastodon Facebook X LinkedIn More