TY  - CHAP
U1  - Buchbeitrag
A1  - Iossifidis, Ioannis
A1  - Bruckhoff, Carsten
A1  - Theis, Christoph
A1  - Grote, Claudia
A1  - Faubel, Christian
A1  - Schöner, Gregor
T1  - A Cooperative Robotic Assistant (CoRA) for Human Environments
T2  - Advances in Human-robot-Interaction
N2  - CoRA is a robotic assistant whose task is to collaborate with a human operator on simple manipulation or handling tasks. Its sensory channels comprising vision, audition, haptics, and force sensing are used to extract perceptual information about speech, gestures and gaze of the operator, and object recognition. The anthropomorphic robot arm makes goal-directed movements to pick up and hand-over objects. The human operator may mechanically interact with the arm by pushing it away (haptics) or by taking an object out of the robot’s gripper (force sensing). The design objective has been to exploit the human operator’s intuition by modeling the mechanical structure, the senses, and the behaviors of the assistant on human anatomy, human perception, and human motor behavior.
Y1  - 2004
SP  - 385
EP  - 401
PB  - Springer Press
ER  -