Toward Safe Human Robot Collaboration by Using Multiple Kinects Based Real-Time Human Tracking
Toward Safe Human Robot Collaboration by Using Multiple Kinects Based Real-Time Human Tracking
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DOI：
10.1115/1.4025810
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发表时间：
2014-03-01
影响因子：
3.1
通讯作者：
Gupta, Satyandra K.
中科院分区：
文献类型：
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作者：
Morato, Carlos;Kaipa, Krishnanand N.;Gupta, Satyandra K.
我们提出了一种基于多Kinect的外感受性传感框架，以实现安全的人机协作装配任务。我们的方法主要是基于一个实时复制的人和机器人的动作内的物理模拟的工作单元。这使得能够在3D欧几里德空间中评估人-机器人分离，这可以用于为机器人生成安全的运动目标。为此，我们开发了一个N-Kinect系统来建立一个明确的人类模型和一个推出策略，在这个策略中，我们向前模拟机器人在不久的将来的轨迹。现在，我们使用一种预碰撞策略，该策略允许人类与机器人近距离操作，同时每当检测到人类模型与机器人的任何部分之间即将发生碰撞时，暂停机器人的运动。而大多数以前的基于范围的方法分析的物理分离的基础上的深度数据有关的2D投影的机器人和人类，我们的方法评估的分离在3D空间的基础上明确的人体模型和机器人的前向物理模拟。在5自由度关节式机器人和人类安全协作执行装配任务的实验中观察到的实时行为（约30 Hz）验证了我们的方法。
We present a multiple Kinects based exteroceptive sensing framework to achieve safe human-robot collaboration during assembly tasks. Our approach is mainly based on a real-time replication of the human and robot movements inside a physics-based simulation of the work cell. This enables the evaluation of the human-robot separation in a 3D Euclidean space, which can be used to generate safe motion goals for the robot. For this purpose, we develop an N-Kinect system to build an explicit model of the human and a roll-out strategy, in which we forward-simulate the robot's trajectory into the near future. Now, we use a precollision strategy that allows a human to operate in close proximity with the robot, while pausing the robot's motion whenever an imminent collision between the human model and any part of the robot is detected. Whereas most previous range based methods analyzed the physical separation based on depth data pertaining to 2D projections of robot and human, our approach evaluates the separation in a 3D space based on an explicit human model and a forward physical simulation of the robot. Real-time behavior (approximate to 30 Hz) observed during experiments with a 5 DOF articulated robot and a human safely collaborating to perform an assembly task validate our approach.