Collaborative Welding and Joint Sealing Robots With Haptic Feedback
Abstract/Contents
- Abstract
Due to their unstructured and dynamic nature, construction sites present many challenges for robotic automation of tasks. Integrating
human-robot collaboration (HRC) is critical for task success and implementation feasibility. This is particularly important for contact-rich tasks and other complex scenarios which require a level of reasoning that cannot be accomplished by a fully autonomous robot. Currently, many solutions rely on precise teleoperation that requires one operator per robot. Alternatively, one operator may oversee several semi-autonomous robots. However, the operators do not have the sensory feedback needed to adequately leverage their expertise and craftsmanship. Haptic interfaces allow for intuitive human-robot collaboration by providing rich contact feedback. This paper presents two human-robot collaboration solutions for welding and joint sealing through the use of a haptic device. Our approach allows for seamless transitions between autonomous robot capabilities and human intervention with rich contact feedback. Additionally, this work opens the door to intuitive programming of new tasks through haptic human demonstration.
Description
Type of resource | text |
---|---|
Date modified | November 22, 2021; December 5, 2022 |
Publication date | November 22, 2021; November 1, 2021 |
Creators/Contributors
Author | Brosque, Cynthia | |
---|---|---|
Author | Galbally, Elena | |
Author | Chen, Yuxiao | |
Author | Joshi, Ruta | |
Author | Khatib, Oussama | |
Author | Fischer, Martin |
Subjects
Subject | Robotics |
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Subject | Construction |
Subject | Haptic devices |
Subject | Human-Robot Collaboration |
Subject | Robotic Manioulation |
Subject | Tactile Feedback |
Genre | Text |
Genre | Preprint |
Genre | Conference session |
Genre | Grey literature |
Bibliographic information
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- License
- This work is licensed under a Creative Commons Attribution 4.0 International license (CC BY).
Preferred citation
- Preferred citation
- Brosque, C., Galbally, E., Chen, Y., Joshi, R., Khatib, O., and Fischer, M. (2021). Collaborative Welding and Joint Sealing Robots With Haptic Feedback. Stanford Digital Repository. Available at https://purl.stanford.edu/bh829vg1736
Collection
CIFE Publications
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- Contact
- cbrosque@stanford.edu
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