Human robot collaboration - using kinect v2 for ISO/TS 15066 speed and separation monitoring

Rosenstrauch, Martin J.; Pannen, Tessa J.; Krüger, Jörg

doi:10.1016/j.procir.2018.01.026

Cited by 33 publications

(18 citation statements)

References 8 publications

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“…Considering this kind of scenario, future work will include the implementation of the proposed algorithms on a 7 degrees of freedom manipulator (KUKA LBR iiwa), extending the control to a full mobility problem in 3D [31]. The final objective will be to transfer the control framework to a real system, now under construction in the laboratory, where the robot will be equipped with a vision system composed of multiple 3D cameras that is able to acquire information regarding the surrounding environment and extrapolate the positions of objects and humans inside the workspace [32][33][34][35]. The collision-free HRC system will be tested in the laboratory, and the transferability of the algorithms to a real system will be finally experimentally validated.…”

Section: Discussionmentioning

confidence: 99%

A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

et al. 2021

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In this work, a comprehensive control strategy for obstacle avoidance in redundant manipulation is presented, consisting of a combination of off-line path planning algorithms with on-line motion control. Path planning allows the avoidance of fixed obstacles detected before the start of the robot’s motion; it is based on the potential fields method combined with a smoothing process realized by means of interpolation with Bezier curves. The on-line motion control is designed to compensate for the motion of the obstacles and to avoid collisions along the kinematic chain of the manipulator; it is realized by means of a velocity control law based on the null space method for redundancy control. A new term is introduced in the control law to take into account the speed of the obstacles as well as their position. Simulations on a simplified planar case are presented to assess the validity of the algorithms and to estimate the computational effort in order to verify the transferability of our approach to a real system.

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Section: Discussionmentioning

confidence: 99%

A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

et al. 2021

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“…This approach is useful in collaborative scenarios where the robot and user may collide. To avoid this problem, robots can decrease their operating velocity when working in close proximity to users (Araiza-Illan and Clemente, 2018;Rosenstrauch et al, 2018;Svarny et al, 2019) or take paths or actions specifically designed to reduce the likelihood of a collision (De Luca and Flacco, 2012;Hayne et al, 2016;Liu et al, 2018;Nguyen et al, 2018). Similar to shared control, these strategies to assist the user decrease the user's cognitive burden of planning in the task.…”

Section: Human Brainmentioning

confidence: 99%

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

2022

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As assistive robotics has expanded to many task domains, comparing assistive strategies among the varieties of research becomes increasingly difficult. To begin to unify the disparate domains into a more general theory of assistance, we present a definition of assistance, a survey of existing work, and three key design axes that occur in many domains and benefit from the examination of assistance as a whole. We first define an assistance perspective that focuses on understanding a robot that is in control of its actions but subordinate to a user’s goals. Next, we use this perspective to explore design axes that arise from the problem of assistance more generally and explore how these axes have comparable trade-offs across many domains. We investigate how the assistive robot handles other people in the interaction, how the robot design can operate in a variety of action spaces to enact similar goals, and how assistive robots can vary the timing of their actions relative to the user’s behavior. While these axes are by no means comprehensive, we propose them as useful tools for unifying assistance research across domains and as examples of how taking a broader perspective on assistance enables more cross-domain theorizing about assistance.

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“…If the robot falls below a defined separation distance, it reduces its speed. Rosenstrauch et al [22] present not only a solution for several representative robot coordinates, but also for different human coordinates. For the speed adaption, a scaling factor is introduced, which reduces the speed to a sufficient level.…”

Section: Related Workmentioning

confidence: 99%

Robot Speed Adaption in Multiple Trajectory Planning and Integration in a Simulation Tool for Human-Robot Interaction

Glogowski

Böhmer

Hypki

et al. 2021

J Intell Robot Syst

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Speed and separation monitoring (SSM) is one of the four permissible collaborative operations in human-robot interaction (HRI). At all times, it must be ensured that the speed-dependent separation distance is maintained. To guarantee this, the robot speed or the robot path can be adapted. In this paper, the robot speed adaption for multiple trajectories is implemented in an HRI simulation tool and tested in an application example. Thereby, numerous complex process situations, such as a temporary robot stop or obstacles in the collaborative workspace, can be simulated. The simulation tool enables a comprehensive simulation, analysis and optimisation of human and robot motions within the HRI, already in the planning phase.

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Human robot collaboration - using kinect v2 for ISO/TS 15066 speed and separation monitoring

Cited by 33 publications

References 8 publications

A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

A Collision Avoidance Strategy for Redundant Manipulators in Dynamically Variable Environments: On-Line Perturbations of Off-Line Generated Trajectories

Helping People Through Space and Time: Assistance as a Perspective on Human-Robot Interaction

Robot Speed Adaption in Multiple Trajectory Planning and Integration in a Simulation Tool for Human-Robot Interaction

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