This paper presents a proof of concept for a synergistic framework for human-robot coexistence and collaboration (HRC 2). By exploiting the loco-manipulation potential of our recently developed MObile Collaborative robotic Assistant (MOCA), we developed a novel framework that distinguishes and suitably reacts to coexisting and collaborative human partners. The framework avoids any collisions or physical contacts with coexisting partners while enabling ergonomic physical interactions with the collaborative-identified ones. The selection of the collaborative partners is achieved through body gestures.

Toward a Synergistic Framework for Human-Robot Coexistence and Collaboration (HRC2 )

Marta Lorenzini;Fabio Fusaro;Elena De Momi;Arash Ajoudani
2019-01-01

Abstract

This paper presents a proof of concept for a synergistic framework for human-robot coexistence and collaboration (HRC 2). By exploiting the loco-manipulation potential of our recently developed MObile Collaborative robotic Assistant (MOCA), we developed a novel framework that distinguishes and suitably reacts to coexisting and collaborative human partners. The framework avoids any collisions or physical contacts with coexisting partners while enabling ergonomic physical interactions with the collaborative-identified ones. The selection of the collaborative partners is achieved through body gestures.
2019
Institute for Robotics and Intelligent Machines Conference (I-RIM) Proceedings
human-robot collaboration
navigation system
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11311/1119859
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