Building Human-Friendly Robot Systems
نویسندگان
چکیده
To develop human friendly robots we required two key components; smart interfaces and safe mechanisms. Smart interfaces facilitate natural and easy interfaces for humanrobot interaction. Facial gestures can be a natural way to control a robot. In this paper, we report on a vision-based interface that in real-time tracks a user’s facial features and gaze point. Human friendly robots must also have high integrity safety systems that ensure that people are never harmed. To guarantee human safety we require manipulator mechanisms in which all actuators are force controlled in a manner that prevents dangerous impacts with people and the environment. In this paper we present a control scheme for a whole arm manipulator (WAM) which allows for safe human-robot
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