![]() ![]() However, since robot sensors generally measure different physical phenomena, it is preferable to use them directly in the low-level servo controller rather than to apply them to multi-sensory fusion or to design complex state machines. ![]() Traditionally, heterogeneous sensor data was fed to fusion algorithms (e.g., Kalman or Bayesian-based), so as to provide state estimation for modeling the environment. Sensor-based control can address both issues, by closing the perception-to-action loop, in a way that may well be assimilated to that of the lower motor neurons in our nervous system. ![]() A second fundamental requirement to establish pHRI is intuitive control by the human operator, in particular when s/he is non expert. One of the main issues, particularly when physical contact can occur between the two, is safety. The methods required to make humans and robots interact and collaborate are the subject of research in physical human-robot interaction (pHRI). ![]()
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