Implementation of a Sensor Fusion Based Robotic System Architecture for Motion Control using Human-Robot Interaction

In this paper an initial implementation of a sensor fusion based robotic system architecture for motion control is presented. The architecture also consists of a human robot interaction interface to help the robotic system during the application. This is a work in progress and the paper presents the initial efforts covering the architectural implementation of the system that includes the experimental setup and the block diagram of the architecture.

I. Introduction

Human Robot Interaction (HRI) is the robotic concept when a human works with the machine directly or indirectly. In society, robots have a more significant role to play in performing tasks that are difficult for a person or in maximizing the efficiency of specific functions. As presented in [1], the concept of human-robot interaction covers various types of work such as search and rescue missions, industrial arms management, medical tasks, education or entertainment. For these purposes, the robot control system enables the human and robot to work together. The links for the system and operator identified through a control architecture system. Another critical part would be the system control algorithms which assess machine decisions for a single task.