In critical scenarios, the interaction forces between a robot and environment could lead to damages dangerous situations. Complex tasks like grasping fragile objects or physical human-robot in collaborative robotics require capability of controlling forces. bilateral teleoperation, force feedback is used provide telepresence operator. such situation, commonly measured by force/torque sensor at ...

Effective mass of robot is considered great significance in enhancing the safety human-robot collaboration. In this paper, effective investigated using different joint configurations. This investigation executed two steps. first step, position each changing alone, whereas positions other joints are fixed and then determined. second all together, From process, relation between configurations can...

Human-robot interaction requires the robot to explicitly reason on human environments and on its own capacities to achieve tasks in a collaborative way with a human partner. We have devised a decisional framework for human-robot interactive task achievement, embedded in a cognitive architecture, and that is aimed to allow the robot not only to accomplish its tasks but also to produce behaviours...

Human robot co-operation is a challenging topic, especially more complex co-operation patterns which do not just involve reactive force control. Our research comprises human robot co-operation between a humanoid household robot and a human partner working together in a kitchen. It is embedded in the collaborative research centre SFB 588, “Humanoid Robots – Learning and Cooperating Multimodal Ro...

Our overall program objective is to provide more natural ways for soldiers to interact and communicate with robots, much like how soldiers communicate with other soldiers today. We describe how the Wizard-of-Oz (WOz) method can be applied to multimodal human-robot dialogue in a collaborative exploration task. While the WOz method can help design robot behaviors, traditional approaches place the...

We have developed a cognitive architecture for a robotic teammate based on the neuro-psychological principles of perceptual symbols and simulation, with the aim of attaining increased fluency in human-robot teams. An instantiation of this architecture was implemented on a robotic desk lamp, performing in a human-robot collaborative task. This paper describes initial results from a human-subject...

This paper presents a system developed for the assistance with a collaborative robot in 12 hand-assisted laparoscopic surgery (HALS). The system includes a sensing glove with 13 piezoresistive sensors which capture continuously the flexion degree of the surgeon's fingers. 14 These data are analyzed using an algorithm that detects and recognize the selected movements. 15 This information is sent...

To focus on the research issues surrounding collaborative behavior in multiple mobile-robotic systems, a great amount of low-level infrastructure is required. To facilitate our on-going research into multi-robot systems, we have developed RAVE, a software framework that provides a Real And Virtual Environment for running and managing multiple heterogeneousmobilerobot systems. This framework sim...

This paper presents a conceptual model of an agent (called Collaborator Agent) intended to design collaborative software architectures based on multi-agent systems. The authors’ model combines astutely two research areas: Multi-Agent Systems (MAS) and Computer Supported Cooperative Work (CSCW). The particularity of their approach is the division of the collaborative process into three spaces ac...

Robots are developing in much the same way that personal computers did 40 years ago, and robot operating system is the critical basis. Current robot software is mainly designed for individual robots. We present in this paper the design of micROS, a morphable, intelligent and collective robot operating system for future collective and collaborative robots. We first present the architecture of mi...