In this paper a real-time collision avoidance approach useful for human-robot interaction was presented and tested. This approach is based on a collision avoidance algorithm and a distance calculation algorithm. The collision avoidance algorithm was developed to avoid possible collisions between the upper part of the human body and the links of the robot. The positions of 25 characteristic points of the body of the human operator are acquired by two vision sensors. The distances between the robot and the operator are evaluated with the proposed distance calculation algorithm. These algorithms permit a real-time control of a collaborative robot. The collision avoidance approach was tested with two kinds of experiments. The results of the tests are presented.
"Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks" / Scimmi, LEONARDO SABATINO; Melchiorre, Matteo; Mauro, Stefano; Pastorelli, STEFANO PAOLO. - STAMPA. - Proceedings of the 15th International Conference on Informatics in Control, Automation and Robotics - (Volume 2):(2018), pp. 291-298. (Intervento presentato al convegno 15th International Conference on Informatics in Control, Automation and Robotics tenutosi a Oporto (PT) nel 29-31 luglio 2018) [10.5220/0006852203010308].
"Multiple Collision Avoidance between Human Limbs and Robot Links Algorithm in Collaborative Tasks"
Leonardo Sabatino Scimmi;Matteo Melchiorre;Stefano Mauro;Stefano Pastorelli
2018
Abstract
In this paper a real-time collision avoidance approach useful for human-robot interaction was presented and tested. This approach is based on a collision avoidance algorithm and a distance calculation algorithm. The collision avoidance algorithm was developed to avoid possible collisions between the upper part of the human body and the links of the robot. The positions of 25 characteristic points of the body of the human operator are acquired by two vision sensors. The distances between the robot and the operator are evaluated with the proposed distance calculation algorithm. These algorithms permit a real-time control of a collaborative robot. The collision avoidance approach was tested with two kinds of experiments. The results of the tests are presented.Pubblicazioni consigliate
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https://hdl.handle.net/11583/2716796
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