A Cooperative Robotic Assistant (CoRA) for Human Environments

  • 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.

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Author:Ioannis Iossifidis, Carsten Bruckhoff, Christoph Theis, Claudia Grote, Christian Faubel, Gregor Schöner
Parent Title (English):Advances in Human-robot-Interaction
Publisher:Springer Press
Document Type:Part of a Book
Year of Completion:2004
Release Date:2019/05/15
First Page:385
Last Page:401
Institutes:Fachbereich 1 - Institut Informatik
DDC class:600 Technik, Medizin, angewandte Wissenschaften / 620 Ingenieurwissenschaften und Maschinenbau
Licence (German):License LogoNo Creative Commons