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Document type:
Konferenzbeitrag 
Author(s):
Lenz, Claus; Rickert, Markus; Panin, Giorgio; Knoll, Alois 
Title:
Constraint Task-based Control in Industrial Settings 
Abstract:
Direct physical human-robot interaction has become a central part in the research field of robotics today. To use the advantages of the potential for humans and robots to work together as a team in industrial settings, the most important issues are safety for the human and an easy way to describe tasks for the robot. In this work, we present an approach of a hierarchical structured control of industrial robots for joint-action scenarios. Multiple atomic tasks including dynamic collision avoidanc...    »
 
Keywords:
jahir, jast, itracku, cotesys 
Book / Congress title:
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
Year:
2009 
Month:
Oct 
Pages:
3058--3063