Safe human-robot interaction based on dynamic sphere-swept line bounding volumes
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http://hdl.handle.net/10045/15128
Título: | Safe human-robot interaction based on dynamic sphere-swept line bounding volumes |
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Autor/es: | Corrales Ramón, Juan Antonio | Candelas-Herías, Francisco A. | Torres, Fernando |
Grupo/s de investigación o GITE: | Automática, Robótica y Visión Artificial |
Centro, Departamento o Servicio: | Universidad de Alicante. Departamento de Física, Ingeniería de Sistemas y Teoría de la Señal |
Palabras clave: | Human-robot interaction | Bounding volumes | Distance computation | Safety | Collision avoidance |
Área/s de conocimiento: | Ingeniería de Sistemas y Automática |
Fecha de creación: | 13-jul-2010 |
Fecha de publicación: | 31-jul-2010 |
Editor: | Elsevier |
Cita bibliográfica: | CORRALES RAMÓN, Juan Antonio; CANDELAS HERÍAS, Francisco Andrés; TORRES MEDINA, Fernando. "Safe human-robot interaction based on dynamic sphere-swept line bounding volumes". Robotics and Computer-Integrated Manufacturing. Vol. 27, No. 1 (Febr. 2011). ISSN 0736-5845, pp. 177-185 |
Resumen: | This paper presents a geometric representation for human operators and robotic manipulators, which cooperate in the development of flexible tasks. The main goal of this representation is the implementation of real-time proximity queries, which are used by safety strategies for avoiding dangerous collisions between humans and robotic manipulators. This representation is composed of a set of bounding volumes based on swept-sphere line primitives, which encapsulate their links more precisely than previous sphere-based models. The radius of each bounding volume does not only represent the size of the encapsulated link, but it also includes an estimation of its motion. The radii of these dynamic bounding volumes are obtained from an algorithm which computes the linear velocity of each link. This algorithm has been implemented for the development of a safety strategy in a real human–robot interaction task. |
Patrocinador/es: | This work is funded by the Spanish Ministry of Education and the Spanish Ministry of Science and Innovation through the projects DPI2005-06222 and DPI2008-02647 and the grant AP2005-1458. |
URI: | http://hdl.handle.net/10045/15128 |
ISSN: | 0736-5845 (Print) | 1879-2537 (Online) |
DOI: | 10.1016/j.rcim.2010.07.005 |
Idioma: | eng |
Tipo: | info:eu-repo/semantics/article |
Revisión científica: | si |
Versión del editor: | http://dx.doi.org/10.1016/j.rcim.2010.07.005 |
Aparece en las colecciones: | INV - AUROVA - Artículos de Revistas |
Archivos en este ítem:
Archivo | Descripción | Tamaño | Formato | |
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Safe HumanRobot Interaction Based on Dynamic SSL.pdf | Versión final (acceso restringido) | 704,09 kB | Adobe PDF | Abrir Solicitar una copia |
DynamicBV_revised.pdf | Versión revisada (acceso libre) | 578,82 kB | Adobe PDF | Abrir Vista previa |
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