NDLI: Safe Close-Proximity and Physical Human-Robot Interaction Using Industrial Robots

Content Provider	IEEE Xplore Digital Library
Author	Nakhaeinia, D. Laferriere, P. Payeur, P. Laganiere, R.
Copyright Year	2015
Description	Author affiliation: Sensing & Machine Vision for Autom. & Robotic Intell. Res. Group, Univ. of Ottawa, Ottawa, ON, Canada (Nakhaeinia, D.; Laferriere, P.; Payeur, P.; Laganiere, R.)
Abstract	Industrial robots have been employed worldwide in the manufacturing sector for performing tasks quickly, repeatedly and accurately in relatively static environments for over 30 years. In recent years, close physical interaction between industrial robots and human operators has attracted researchers' attention and encouraged a number of technological innovations to turn these robots into human-robot platforms. In this work a specially designed compliant wrist is developed to support dexterous robotic interaction with live proximity and contact feedback. The compliant wrist incorporates a level of compliance into an initially non-compliant manipulator robot which allows the robot to dynamically adapt to the surfaces it approaches or touches. Furthermore, to facilitate human -- robot interactions, the robot must be able to adapt its behaviour to the human partner. Therefore, a real-time path planning method is developed to generate online motion, adapt the robot to dynamic changes in the environment and ensure smooth interactions. The performance of the proposed method is demonstrated through experimental results on a CRS-F3 manipulator.
Starting Page	237
Ending Page	244
File Size	720728
Page Count	8
File Format	PDF
ISBN	9781479919864
DOI	10.1109/CRV.2015.38
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-06-03
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Wrist human-robot interaction Service robots motion planning industrial robots proximity and contact feedback real time system robotics Robot sensing systems Distance measurement compliant wrist Sensor arrays
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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