Controller design for human-robot interaction

Eric Meisner, Volkan Isler, Jeff Trinkle

Research output: Contribution to journalArticlepeer-review

15 Scopus citations

Abstract

Many robotics tasks require a robot to share the same workspace with humans. In such settings, it is important that the robot performs in such a way that does not cause distress to humans in the workspace. In this paper, we address the problem of designing robot controllers which minimize the stress caused by the robot while performing a given task. We present a novel, data-driven algorithm which computes human-friendly trajectories. The algorithm utilizes biofeedback measurements and combines a set of geometric controllers to achieve human friendliness. We evaluate the comfort level of the human using a Galvanic Skin Response (GSR) sensor. We present results from a human tracking task, in which the robot is required to stay within a specified distance without causing high stress values.

Original languageEnglish (US)
Pages (from-to)123-134
Number of pages12
JournalAutonomous Robots
Volume24
Issue number2
DOIs
StatePublished - Feb 1 2008

Keywords

  • Assistive robotics
  • Biofeedback
  • Human-robot interaction

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