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
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.
ISBN: 978-84-695-3225-6
Language: eng
Type: info:eu-repo/semantics/doctoralThesis
Appears in Collections: Doctoral theses

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