Visual servoing path tracking for safe human-robot interaction

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Title: Visual servoing path tracking for safe human-robot interaction
Authors: Garcia, Gabriel J. | Corrales Ramón, Juan Antonio | Pomares, Jorge | Candelas-Herías, Francisco A. | Torres, Fernando
Research Group/s: Automática, Robótica y Visión Artificial
Center, Department or Service: Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal
Keywords: Visual servoing | Human tracking | Image path tracking | Motion capture | Human-robot interaction
Knowledge Area: Ingeniería de Sistemas y Automática
Date Created: 13-Jan-2009
Issue Date: Apr-2009
Publisher: IEEE
Citation: GARCÍA GÓMEZ, Gabriel Jesús, et al. “Visual servoing path tracking for safe human-robot interaction”. En: ICM 2009, IEEE International Conference on Mechatronics. Piscataway, NJ : IEEE, 2009. ISBN 978-1-4244-4195-2
Abstract: When a human is introduced into a robotic cell, the robot controller must be aware of the human location in order to assure her/his physical integrity. This paper presents a pre-collision strategy which maintains a safety distance between a robot and a human who wears a tracking system composed of a motion capture suit and a UWB localization system. The system proposed is able to guide the robot using visual servoing through a previously defined path. The time-independent behaviour of this system enables the robot to completely track the desired trajectory, even in those cases when the robot goes away from the human during the tracking to guarantee her/his safety.
Sponsor: This work was supported in part by the Spanish MEC under Project DPI2005-06222 and Grant AP2005-1458 and by the Valencian Community under Grant BPI06/015.
ISBN: 978-1-4244-4195-2
DOI: 10.1109/ICMECH.2009.4957114
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
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