TY - GEN
T1 - Modular state-based behavior control for safe human-robot interaction
T2 - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
AU - Parusel, Sven
AU - Haddadin, Sami
AU - Albu-Schäffer, Alin
PY - 2011
Y1 - 2011
N2 - In this paper we present a novel control architecture for realizing human-friendly behaviors and intuitive state based programming. The design implements strategies that take advantage of sophisticated soft-robotics features for providing reactive, robust, and safe robot actions in dynamic environments. Quick access to the various functionality of the robot enables the user to develop flexible hybrid state automata for programming complex robot behaviors. The real-time robot control takes care of all safety critical aspects and provides reactive reflexes that directly respond to external stimuli.
AB - In this paper we present a novel control architecture for realizing human-friendly behaviors and intuitive state based programming. The design implements strategies that take advantage of sophisticated soft-robotics features for providing reactive, robust, and safe robot actions in dynamic environments. Quick access to the various functionality of the robot enables the user to develop flexible hybrid state automata for programming complex robot behaviors. The real-time robot control takes care of all safety critical aspects and provides reactive reflexes that directly respond to external stimuli.
UR - http://www.scopus.com/inward/record.url?scp=84871680885&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2011.5980549
DO - 10.1109/ICRA.2011.5980549
M3 - Conference contribution
AN - SCOPUS:84871680885
SN - 9781612843865
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 4298
EP - 4305
BT - 2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Y2 - 9 May 2011 through 13 May 2011
ER -