A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces

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Título: A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces
Autor/es: Pomares, Jorge | Perea Fuentes, Iván | Garcia, Gabriel J. | Jara, Carlos A. | Corrales Ramón, Juan Antonio | Torres, Fernando
Grupo/s de investigación o GITE: Automática, Robótica y Visión Artificial
Centro, Departamento o Servicio: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Palabras clave: Direct visual servo | Human-robot collaboration | Visual servoing | Tactile control
Área/s de conocimiento: Ingeniería de Sistemas y Automática
Fecha de publicación: 20-oct-2011
Editor: MDPI
Cita bibliográfica: Pomares J, Perea I, García GJ, Jara CA, Corrales JA, Torres F. A Multi-Sensorial Hybrid Control for Robotic Manipulation in Human-Robot Workspaces. Sensors. 2011; 11(10):9839-9862. doi:10.3390/s111009839
Resumen: Autonomous manipulation in semi-structured environments where human operators can interact is an increasingly common task in robotic applications. This paper describes an intelligent multi-sensorial approach that solves this issue by providing a multi-robotic platform with a high degree of autonomy and the capability to perform complex tasks. The proposed sensorial system is composed of a hybrid visual servo control to efficiently guide the robot towards the object to be manipulated, an inertial motion capture system and an indoor localization system to avoid possible collisions between human operators and robots working in the same workspace, and a tactile sensor algorithm to correctly manipulate the object. The proposed controller employs the whole multi-sensorial system and combines the measurements of each one of the used sensors during two different phases considered in the robot task: a first phase where the robot approaches the object to be grasped, and a second phase of manipulation of the object. In both phases, the unexpected presence of humans is taken into account. This paper also presents the successful results obtained in several experimental setups which verify the validity of the proposed approach.
Patrocinador/es: This work was partially funded by the Ministry of Education and Science of the Spanish Government through the research projects DPI2008-02647 and DPI2011-22766.
URI: http://hdl.handle.net/10045/69171
ISSN: 1424-8220
DOI: 10.3390/s111009839
Idioma: eng
Tipo: info:eu-repo/semantics/article
Derechos: © 2011 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/3.0/).
Revisión científica: si
Versión del editor: http://dx.doi.org/10.3390/s111009839
Aparece en las colecciones:INV - AUROVA - Artículos de Revistas

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