This thesis presents several new techniques for developing safe and flexible human-robot interaction tasks where human operators cooperate with robotic manipulators. The contributions of this thesis are divided in two fields: the development of safety strategies which modify the normal behavior of the robotic manipulator when the human operator is near the robot and the development of dexterous manipulation tasks for in-hand manipulation of objects with a multi-fingered robotic hand installed at the end-effector of a robotic manipulator. / Valencian Government by the research project "Infraestructura 05/053". Spanish Ministry of Education and Science by the pre-doctoral grant AP2005-1458 and the research projects DPI2005-06222 and DPI2008-02647, which constitute the research framework of this thesis.
| Identifer | oai:union.ndltd.org:ua.es/oai:rua.ua.es:10045/22770 |
| Date | 21 July 2011 |
| Creators | Corrales Ramón, Juan Antonio |
| Contributors | Torres Medina, Fernando, Candelas Herías, Francisco Andrés, Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
| Publisher | Universidad de Alicante |
| Source Sets | Universidad de Alicante |
| Language | English |
| Detected Language | English |
| Type | info:eu-repo/semantics/doctoralThesis |
| Rights | info:eu-repo/semantics/openAccess |
Page generated in 0.002 seconds