Title:Interaction of a Flexible Robot with its EnvironmentAuthor(s):Michael Kastner, Hubert Gattringer, Hartmut Bremer, Martin Ramsauer, Paolo FerraraAbstract:Uncomplicated and safe programming interfaces as well as flexible programs themselves become important when robots are used for small lot size tasks or are operated by personnel without special robotics education. This work takes a look at safe and easy interaction of a flexible articulated robot arm actuated by fluidic muscles with its environment. A contact detection scheme for stiff collisions at speeds between 50 and 250mm/s is presented and measurement results are disucussed. Moreover, a programming by demonstration concept is described on the basis of a pick and place task. Both strategies (implemented on a seven axis handling robot) rely on physical models to allow an operation without extra sensors.Booktitle:Proceedings of the 7th International Conference on Informatics in Control, Automation and RoboticsPublisher:SciTePress-Science and Technology PublicationsEditor(s):Joaquim Filipe, Juan Andrade Cetto and Jean-Louis FerrierISBN:978-989-8425-01-0Page Reference:page 230-233, 4 page(s)Publishing:6/2010Volume:1