| Human-Centered Robot Design and the Problem of Grasping (2008) | |||||||||||||||
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| This paper examines the use of human-centered design in the problem of robot grasping. Human-directed local autonomy is defined. The differences between a humanoid robot for human service and an industrial robot are discussed. The hardware and software design of a humanoid robot is described. The problem of human-robot interaction is analyzed. The grasping problem is described and a solution proposed. 1 Introduction A humanoid robot designed for human service differs significantly from an industrial robot. A service robot physically interacts with a human being. Therefore, it must be safe; its design must minimize the possibility of it injuring a person. A service robot will not be of much use if programmed to perform a fixed set of relatively simple, repetitive tasks. It must take commands from a person -- in fact it must work with a person -- to perform a wide variety of complex tasks, each of which could be unique to the moment. Not only must it be purposive to accomplish specific ... | |||||||||||||||
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