van der Smagt Patrick, Grebenstein Markus, Urbanek Holger, Fligge Nadine, Strohmayr Michael, Stillfried Georg, Parrish Jonathon, Gustus Agneta
Institute of Robotics and Mechatronics, German Aerospace Center, Wessling, Germany.
J Physiol Paris. 2009 Sep-Dec;103(3-5):119-32. doi: 10.1016/j.jphysparis.2009.07.009. Epub 2009 Aug 15.
The construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation; (2) sensing; and (3) control, and formulate detailed examples thereof.
构建在敏捷性、稳定性和精准度方面能够像人类一样移动的机器人系统，是机器人系统成功融入人类环境的必要前提。我们基于三个基本要素（1）驱动；（2）传感；以及（3）控制，阐述以人类为中心的机器人学观点，并给出其详细示例。
