Safe human-robot interaction based on multi-sensor fusion and dexterous manipulation planning
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Title: | Safe human-robot interaction based on multi-sensor fusion and dexterous manipulation planning |
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Authors: | Corrales Ramón, Juan Antonio |
Research Director: | Torres Medina, Fernando | Candelas Herías, Francisco Andrés |
Center, Department or Service: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Keywords: | Human-robot interaction | Multi-sensor fusion | Bayesian filtering | Bounding volumes | In-hand manipulation | Dexterous manipulation |
Knowledge Area: | Ingeniería de Sistemas y Automática |
Date Created: | 14-Jun-2011 |
Issue Date: | 2011 |
Date of defense: | 21-Jul-2011 |
Publisher: | Universidad de Alicante |
Abstract: | This thesis presents several new techniques for developing safe and flexible human-robot interaction tasks where human operators cooperate with robotic manipulators. The contributions of this thesis are divided in two fields: the development of safety strategies which modify the normal behavior of the robotic manipulator when the human operator is near the robot and the development of dexterous manipulation tasks for in-hand manipulation of objects with a multi-fingered robotic hand installed at the end-effector of a robotic manipulator. |
Sponsor: | Valencian Government by the research project "Infraestructura 05/053". Spanish Ministry of Education and Science by the pre-doctoral grant AP2005-1458 and the research projects DPI2005-06222 and DPI2008-02647, which constitute the research framework of this thesis. |
URI: | http://hdl.handle.net/10045/22770 |
ISBN: | 978-84-695-3225-6 |
Language: | eng |
Type: | info:eu-repo/semantics/doctoralThesis |
Appears in Collections: | Doctoral theses |
Files in This Item:
File | Description | Size | Format | |
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Tesis_corrales.pdf | 6,21 MB | Adobe PDF | Open Preview | |
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