Open AccessAn Attentional Approach to Human–Robot Interactive Manipulation
Author(s) -
Xavier Broquère,
Alberto Finzi,
Jim Mainprice,
Silvia Rossi,
Daniel Sidobre,
Mariacarla Staffa
Publication year - 2014
Publication title -
international journal of social robotics
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.655
H-Index - 53
eISSN - 1875-4805
pISSN - 1875-4791
DOI - 10.1007/s12369-014-0236-0
Subject(s) - planner , computer science , human–computer interaction , robot , human–robot interaction , artificial intelligence , robotics , control (management) , object (grammar) , handover , computer network
Human robot collaborative work requires interactive manipulation and object handover. During the execution of such tasks, the robot should monitor manipulation cues to assess the human intentions and quickly determine the appropriate execution strategies. In this paper, we present a control architecture that combines a supervisory attentional system with a human aware manipulation planner to support effective and safe collaborative manipulation. After detailing the approach, we present experimental results describing the system at work with different manipulation tasks (give, receive, pick, and place)
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