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Carnegie Mellon Robotics Institute

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Abstract

Human-Robot Physical Interaction is an important attribute for robots operating in human environments. The authors illustrate some basic physically interactive behaviors with dynamically stable mobile robots using the ballbot as an example. The ballbot is a dynamically stable mobile robot moving on a single spherical wheel. The dynamic stability and robust controllers enable the ballbot to be physically moved with ease. The authors also demonstrate other behaviors like human intent detection and learn-repeat behavior on the real robot.

Keywords

Human-Robot Physical Interaction, Dynamically Stable Mobile Robots.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): Dynamically-Stable Mobile Robots in Human Environments

Number of pages: 2

Text Reference

Umashankar Nagarajan, George A. Kantor, and Ralph Hollis, "Human-Robot Physical Interaction with Dynamically Stable Mobile Robots," Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2009), May, 2009, pp. 281-282.

BibTeX Reference

@inproceedings{Nagarajan_2009_6378,
   author = "Umashankar Nagarajan and George A Kantor and Ralph Hollis",
   title = "Human-Robot Physical Interaction with Dynamically Stable Mobile Robots",
   booktitle = "Proceedings of the ACM/IEEE International Conference on Human-Robot Interaction (HRI 2009)",
   pages = "281-282",
   month = "May",
   year = "2009",
}

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