Safe human-robot interaction based on a hierarchy of bounding volumes

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Title: Safe human-robot interaction based on a hierarchy of bounding volumes
Authors: Corrales Ramón, Juan Antonio | Torres, Fernando | Candelas-Herías, Francisco A.
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: Human-robot interaction | Bounding volumes | Human-robot distance computation | Safety strategies
Knowledge Area: Ingeniería de Sistemas y Automática
Date Created: 3-May-2010
Issue Date: May-2010
Publisher: IEEE
Citation: CORRALES RAMÓN, Juan Antonio; TORRES MEDINA, Fernando; CANDELAS HERÍAS, Francisco Andrés. "Safe human-robot interaction based on a hierarchy of bounding volumes". En: Proceedings of the IEEE ICRA 2010 : Anchorage, Alaska, May, 2010. Piscataway, N.J. : IEEE, 2010, pp. 74-78
Abstract: This paper presents a novel human-robot interaction system which guarantees the safety of human operators which cooperate with robotic manipulators. In particular, this system computes on realtime the minimum distance between the human operator and the robotic manipulator and modify the trajectory of the robot accordingly. The system is integrated by two elements: a human tracking system and a hierarchy of bounding volumes. The tracking system combines the measurements of a motion capture system and an UWB localization system by a modified Kalman filter and thus the movements of the human are registered with accuracy. The hierarchy of bounding volumes covers the bodies of the human and the robot so that the minimum distance between them can be computed efficiently. A new distance computation algorithm based on this hierarchy has been developed. Finally, the system has been applied on a real task.
Sponsor: This work was supported in part by the Spanish Ministry of Education under grant AP2005-1458 and by the Spanish Ministry of Science and Innovation under research projects DPI2005-06222 (Design, Implementation and Experimentation of Intelligent Manipulation Scenarios for Automatic Assembly/Disassembly Applications) and DPI2008-02647 (Intelligent Manipulation through Haptic Perception and Visual Servoing by Using and Articulated Structure situated over a Robotic Manipulator).
Language: eng
Type: info:eu-repo/semantics/bookPart
Peer Review: si
Appears in Collections:INV - AUROVA - Comunicaciones a Congresos Internacionales

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