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Bewegungsregelung mobiler Manipulatoren für die Mensch-Roboter-Interaktion mittels kartesischer modellprädiktiver Regelung

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Book Series: Karlsruher Schriften zur Anthropomatik / Lehrstuhl für Interaktive Echtzeitsysteme, Karlsruher Institut für Technologie ; Fraunhofer-Inst. für Optronik, Systemtechnik und Bildauswertung IOSB Karlsruhe ISSN: 18636489 ISBN: 9783731508557 Year: Volume: 39 Pages: XXVI, 176 p. DOI: 10.5445/KSP/1000086157 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Computer Science
Added to DOAB on : 2019-07-28 18:37:01
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Abstract

For human-robot-interaction, this work proposes a method for monitoring the complex, dynamic environment of the robot. The robot motion is controlled based on the concept of nonlinear model predictive control. The controller considers the detected obstacles and intended or unintended contacts of the robot with its environment so that undesired collisions are avoided and an adequate reaction to contacts is achieved. The proposed approaches are analyzed on a mobile manipulator.

Vor-Sicht im Straßenverkehr - Experimentelle Untersuchung der somatischen Antizipation von Risiko

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Book Series: Karlsruher Forschungsberichte zur Arbeitswissenschaft und Betriebsorganisation / Institut für Arbeitswissenschaft und Betriebsorganisation (ifab), Karlsruher Institut für Technologie ISSN: 23637315 ISBN: 9783731507482 Year: Volume: 2 Pages: XXI, 206 p. DOI: 10.5445/KSP/1000078302 Language: GERMAN
Publisher: KIT Scientific Publishing
Subject: Technology (General)
Added to DOAB on : 2019-07-28 18:37:01
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Abstract

Based on the Somatic Marker Hypothesis, an attempt is made to measure the anticipation of risky traffic situations by means of the electrodermal activity. The results indicate that the strength of the anticipatory electrodermal activity is systematically related to situational factors of a traffic situation. In addition, a model was derived that postulates an inverted U-shaped relationship between driver’s experience and anticipatory electrodermal activity.

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