.png){kind=icon}
返回
A Human-Aware Manipulation Planner
.png){kind=icon}
PRE
AI
DOI：10.1109/TRO.2012.2196303.png)
.png){kind=icon}
原文求助.png){kind=icon}
分享.png){kind=icon}
收藏
摘要
En 中文
With recent advances in safe and compliant hardware and control, robots are close to finding their places in our homes. As the safety barrier between humans and robots is beginning to fade, the necessity to design pertinent robot behavior in human environments is becoming a crucial step. In order to obtain a safe, comfortable, and socially acceptable interaction, the robot should be engineered from top to bottom by considering the presence of the human. In this paper, we present a manipulation planning framework and its implementation human-aware manipulation planner. This planner generates paths not only safe but comfortable and socially acceptable as well by reasoning explicitly on human's kinematics, vision field, posture, and preferences. The planner, which is applied into robot handing over an object scenarios, breaks the human centric interaction that depends mostly on human effort and allows the robot to take initiative by computing automatically where the interaction takes place, thus decreasing the cognitive weight of interaction on human side.
Keyword:
Geometric reasoning
human-robot interaction (HRI)
manipulation
motion planning
AI总结
对已上传原文的论文进行重点信息的提取，主要内容包括：简要概述、研究摘要、背景介绍、关键亮点、图文解析、展望与总结。
期刊
IF:
10.5
论文数:
3.3K
被引数:
2.8W
机构
引用论文
.png){kind=icon}
分享收藏Alternation of Gastric Mucosal Glycoprotein (Lectin-Binding Pattern) in Gastric Mucosa in Stress
PREAI
分享收藏Palladium-mediated synthesis of novel meso-chiral porphyrins: cobalt-catalyzed cyclopropanation
PREAI
分享收藏
查看更多内容