Safety Barrier Functions for Human-Robot Interaction with Industrial Manipulators

2019 ◽  
Author(s):  
Chiara Talignani Landi ◽  
Federica Ferraguti ◽  
Silvia Costi ◽  
Marcello Bonfe ◽  
Cristian Secchi
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction ◽  
Barrier Functions ◽  
Safety Barrier ◽  
Industrial Manipulators

Unified Robot Control Scheme for Cooperative Motion, Autonomous Motion and Contact Reaction

2011 ◽  
Vol 23 (4) ◽  
pp. 557-566 ◽  
Author(s):  
Vincent Duchaine ◽  
◽  
Clément Gosselin ◽  
Keyword(s):  
Robot Control ◽  
Human Robot Interaction ◽  
Future Generations ◽  
Admittance Control ◽  
Robot Interaction ◽  
Modes Of Operation ◽  
Cooperative Motion ◽  
Control Scheme ◽  
Industrial Manipulators ◽  
Autonomous Motion

While the majority of industrial manipulators currently in use only need to performautonomousmotion, future generations of cooperative robots will also have to execute cooperative motion and intelligently react to contacts. These extended behaviours are essential to enable safe and effective physical Human-Robot Interaction (pHRI). However, they will inevitably result in an increase of the controller complexity. This paper presents a single variable admittance control scheme that handles the three modes of operation, thereby minimizing the complexity of the controller. First, the adaptative admittance controller previously proposed by the authors for cooperative motion is recalled. Then, a novel implementation of variable admittance control for the generation of smooth autonomous motion including reaction to collisions anywhere on the robot is presented. Finally, it is shown how the control equations for these three modes of operation can be simply unified into a unique control scheme.

Workload in Human-Robot Interaction: A Review of Manipulations and Outcomes

2009 ◽  
Author(s):  
Matthew S. Prewett ◽  
Kristin N. Saboe ◽  
Ryan C. Johnson ◽  
Michael D. Coovert ◽  
Linda R. Elliott
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction

Biomimetic, sociable robots for human-robot interaction

2010 ◽  
Author(s):  
Eleanore Edson ◽  
Judith Lytle ◽  
Thomas McKenna
Keyword(s):  
Human Robot Interaction ◽  
Robot Interaction

The role and relationship of mindreading and social attunement in HRI – position statements of interdisciplinary researchers. Workshop HRI'20

2020 ◽  
Author(s):  
Agnieszka Wykowska ◽  
Jairo Pérez-Osorio ◽  
Stefan Kopp
Keyword(s):  
Mental States ◽  
Human Robot Interaction ◽  
Human Interaction ◽  
Artificial Agents ◽  
The Novel ◽  
Robot Interaction ◽  
Novel Coronavirus ◽  
Relationship Of ◽  
The Relationship

This booklet is a collection of the position statements accepted for the HRI’20 conference workshop “Social Cognition for HRI: Exploring the relationship between mindreading and social attunement in human-robot interaction” (Wykowska, Perez-Osorio & Kopp, 2020). Unfortunately, due to the rapid unfolding of the novel coronavirus at the beginning of the present year, the conference and consequently our workshop, were canceled. On the light of these events, we decided to put together the positions statements accepted for the workshop. The contributions collected in these pages highlight the role of attribution of mental states to artificial agents in human-robot interaction, and precisely the quality and presence of social attunement mechanisms that are known to make human interaction smooth, efficient, and robust. These papers also accentuate the importance of the multidisciplinary approach to advance the understanding of the factors and the consequences of social interactions with artificial agents.

Shall I trust you? From child human-robot interaction to trusting relationships

2019 ◽  
Author(s):  
Cinzia Di Dio ◽  
Federico Manzi ◽  
Giulia Peretti ◽  
Angelo Cangelosi ◽  
Paul L. Harris ◽  
...  
Keyword(s):  
Behavioral Pattern ◽  
Human Robot Interaction ◽  
School Age Children ◽  
Social Relevance ◽  
Robot Interaction ◽  
Cognitive Correlates ◽  
The Social ◽  
The Relationship

Studying trust within human-robot interaction is of great importance given the social relevance of robotic agents in a variety of contexts. We investigated the acquisition, loss and restoration of trust when preschool and school-age children played with either a human or a humanoid robot in-vivo. The relationship between trust and the quality of attachment relationships, Theory of Mind, and executive function skills was also investigated. No differences were found in children’s trust in the play-partner as a function of agency (human or robot). Nevertheless, 3-years-olds showed a trend toward trusting the human more than the robot, while 7-years-olds displayed the reverse behavioral pattern, thus highlighting the developing interplay between affective and cognitive correlates of trust.

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