By Topic

Prediction-based reactive control strategy for human-robot interactions

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Nima Najmaei ; Department of Electrical and Computer Engineering at the University of Western Ontario, London, Canada ; Mehrdad R. Kermani

In this paper a reactive control strategy intended for human-robot interactions (HRI) is presented. A conventional reactive control scheme is reviewed first. This is followed by the introduction of a new prediction-based reactive control strategy. The new control strategy considers foreseeable dangerous events by predicting human motion using artificial neural networks, based on the previous pattern of the motion. This approach enables a robot to foresee an upcoming danger in order to take preventive actions before the danger is immanent. Experimental results for a CRS-F3 robot manipulator are presented in order to demonstrate and validate the effectiveness of this method.

Published in:

Robotics and Automation (ICRA), 2010 IEEE International Conference on

Date of Conference:

3-7 May 2010