Human-robot collaboration is gaining ground in Manufacturing, Healthcare and Logistics but also Agriculture. Different types of applications the latter field are becoming more common. However, all scenarios, safety assessment verification crucial to cope with related standards specifications. In this paper, development testing a complementary manipulator tool (Clip) presented which can by desig...

We describe an approach for a humanoid robot to understand its internal state (Infantino et al. (2013)). The method is based on self observation and communication with the external world, according to the idea of introspection given by Sloman (2010). The robot introspection arises from information about physical components and software modules. This information is translated in a spatial repres...

Human-Robot Interaction challenges Artificial Intelligence in many regards: dynamic, partially unknown environments that were not originally designed for robots; a broad variety of situations with rich semantics to understand and interpret; physical interactions with humans that requires fine, low-latency yet socially acceptable control strategies; natural and multi-modal communication which ma...

Gesture based natural human-robot interaction paradigm has few physical requirements, and thus can be deployed in many restrictive and challenging environments. In this paper, we propose a robot vision based approach to recognizing intentional arm-pointing gestures of human for an object grasping application. To overcome the limitation of robot onboard vision quality and background cluttering i...

For the safe and smooth robot-assisted healthcare task execution, real-time motion tracking controls compliant physical human–robot interactions are concurrently important control objectives. In this work, uncertainty disturbance estimator (UDE)-based robust region controller for a robot manipulator is developed. The regional feedback error derived from potential function to drive end-effector ...

The paper focuses on design and control of a new anthropomorphic robot arm enabling the torque measurement in each joint to ensure safety while performing tasks of physical interaction with human and environment. When the contact of the robot arm with an object occurs, local admittance algorithm provides active compliance of corresponding robot arm joint. Thus, the whole structure of the manipu...

Compliance actuation systems are efficient and safe, drawing attention to their development. However, compliance has caused bandwidth loss, instability, mechanical vibration in robotic systems. Variable physical damping was introduced address these issues. This paper presents a technique for obtaining variable properties using an electromagnetic brake. The relationship mapping of the voltage br...

1 Our aim Many intelligent robots have already been developed for entertaining people or providing useful information. Such robots need capability of human-robot interaction to be a communication partner of the human. Our aim is to achieve human-robot interaction which is as natural as human-human interaction. 2 Why do people feel shy about interaction with robot? When we exhibited our robots R...