Name
Abstract | ||
|---|---|---|
All mammals but humans use whiskers in order to rapidly acquire information about objects in the vicinity of the head. Collisions of the head and objects can be avoided as the contact point is moved from the body surface to the whiskers. Such a behavior is also highly desirable during many robot tasks such as for human-robot interaction. Using novel capacitive proximity sensors, robots sense when they approach a human (or an object) and react before they actually collide with it. We propose a sensor and control concept that mimics the behavior of whiskers by means of capacitive sensors. Major advantages are the absence of physical whiskers, the absence of blind spots and a very short response time. The sensors are flexible and thin so that they feature skin-like properties and can be attached to various robotic link and joint shapes. In comparison to capacitive proximity sensors, the proposed virtual whiskers offer better sensitivity towards small conductive as well as non conductive objects. Equipped with the new proximity sensors, a seven-joint robot for human-robot interaction tasks shows the efficiency and responsiveness of our concept. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/IROS.2013.6697134 | 2013 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) |
Keywords | Field | DocType |
human robot interaction,mobile robots,capacitive sensors | Computer vision,Robot control,Proximity sensor,Computer science,Whiskers,Response time,Capacitive sensing,Control engineering,Artificial intelligence,Robot,Human–robot interaction,Mobile robot | Conference |
ISSN | Citations | PageRank |
2153-0858 | 3 | 0.57 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Thomas Schlegl | 1 | 20 | 4.39 |
| Torsten Kröger | 2 | 196 | 27.13 |
| Andre Gaschler | 3 | 135 | 9.32 |
| Oussama Khatib | 4 | 6376 | 1172.08 |
| Hubert Zangl | 5 | 58 | 21.63 |