Garcia, Gabriel J., Corrales Ramón, Juan Antonio, Pomares, Jorge, Candelas-Herías, Francisco A., Torres, Fernando
Visual servoing path tracking for safe human-robot interaction
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
URI: http://hdl.handle.net/10045/13015
DOI: 10.1109/ICMECH.2009.4957114
ISSN: 
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.
Keywords:Visual servoing, Human tracking, Image path tracking, Motion capture, Human-robot interaction
IEEE
info:eu-repo/semantics/bookPart