Safe human-robot interaction based on multi-sensor fusion and dexterous manipulation planning

This thesis presents several new techniques for developing safe and flexible human-robot interaction tasks where human operators cooperate with robotic manipulators. The contributions of this thesis are divided in two fields: the development of safety strategies which modify the normal behavior of the robotic manipulator when the human operator is near the robot and the development of dexterous manipulation tasks for in-hand manipulation of objects with a multi-fingered robotic hand installed at the end-effector of a robotic manipulator.

Author

• Corrales Ramón, Juan Antonio

• Human-robot interaction
• Multi-sensor fusion
• Bayesian filtering
• Bounding volumes
• In-hand manipulation
• Dexterous manipulation

Identifier

hdl:10045/22770

OAI identifier oai:identifier

oai:rua.ua.es:10045/22770