Reliable workspace monitoring in safe human-robot environment

Amine Abou Moughlbay; Héctor Herrero; Raquel Pacheco; Jose Luis Outón; Damien Sallé

doi:10.1007/978-3-319-47364-2_25

Reliable workspace monitoring in safe human-robot environment

Amine Abou Moughlbay, Héctor Herrero, Raquel Pacheco, Jose Luis Outón, Damien Sallé

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

6 Citations (Scopus)

Abstract

The implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop, .) are activated when the human-robot distance approaches predefined security thresholds.

Original language	English
Title of host publication	International Joint Conference, SOCO 2016-CISIS 2016-ICEUTE 2016, Proceedings
Editors	Jose Manuel Lopez-Guede, Alvaro Herrero, Hector Quintian, Manuel Grana, Oier Etxaniz, Emilio Corchado
Publisher	Springer Verlag
Pages	256-266
Number of pages	11
ISBN (Print)	9783319473635
DOIs	https://doi.org/10.1007/978-3-319-47364-2_25
Publication status	Published - 2017
Event	International Conference on Soft Computing Models in Industrial and Environmental Applications, SOCO 2016, International Conference on Computational Intelligence in Security for Information Systems, CISIS 2016 and International Conference on European Transnational Education, ICEUTE 2016 - San Sebastian, Spain Duration: 19 Oct 2016 → 21 Oct 2016

Publication series

Name	Advances in Intelligent Systems and Computing
Volume	527
ISSN (Print)	2194-5357

Conference

Conference	International Conference on Soft Computing Models in Industrial and Environmental Applications, SOCO 2016, International Conference on Computational Intelligence in Security for Information Systems, CISIS 2016 and International Conference on European Transnational Education, ICEUTE 2016
Country/Territory	Spain
City	San Sebastian
Period	19/10/16 → 21/10/16

Keywords

Human detection
Human-robot collaboration
Point cloud fusion
Safety strategies
Workspace monitoring

Access to Document

10.1007/978-3-319-47364-2_25

Cite this

Moughlbay, A. A., Herrero, H., Pacheco, R., Outón, J. L., & Sallé, D. (2017). Reliable workspace monitoring in safe human-robot environment. In J. M. Lopez-Guede, A. Herrero, H. Quintian, M. Grana, O. Etxaniz, & E. Corchado (Eds.), International Joint Conference, SOCO 2016-CISIS 2016-ICEUTE 2016, Proceedings (pp. 256-266). (Advances in Intelligent Systems and Computing; Vol. 527). Springer Verlag. https://doi.org/10.1007/978-3-319-47364-2_25

Moughlbay, Amine Abou ; Herrero, Héctor ; Pacheco, Raquel et al. / Reliable workspace monitoring in safe human-robot environment. International Joint Conference, SOCO 2016-CISIS 2016-ICEUTE 2016, Proceedings. editor / Jose Manuel Lopez-Guede ; Alvaro Herrero ; Hector Quintian ; Manuel Grana ; Oier Etxaniz ; Emilio Corchado. Springer Verlag, 2017. pp. 256-266 (Advances in Intelligent Systems and Computing).

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abstract = "The implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop, .) are activated when the human-robot distance approaches predefined security thresholds.",

keywords = "Human detection, Human-robot collaboration, Point cloud fusion, Safety strategies, Workspace monitoring",

author = "Moughlbay, {Amine Abou} and H{\'e}ctor Herrero and Raquel Pacheco and Out{\'o}n, {Jose Luis} and Damien Sall{\'e}",

note = "Publisher Copyright: {\textcopyright} Springer International Publishing AG 2017.; International Conference on Soft Computing Models in Industrial and Environmental Applications, SOCO 2016, International Conference on Computational Intelligence in Security for Information Systems, CISIS 2016 and International Conference on European Transnational Education, ICEUTE 2016 ; Conference date: 19-10-2016 Through 21-10-2016",

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series = "Advances in Intelligent Systems and Computing",

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Moughlbay, AA , Herrero, H , Pacheco, R , Outón, JL & Sallé, D 2017, Reliable workspace monitoring in safe human-robot environment. in JM Lopez-Guede, A Herrero, H Quintian, M Grana, O Etxaniz & E Corchado (eds), International Joint Conference, SOCO 2016-CISIS 2016-ICEUTE 2016, Proceedings. Advances in Intelligent Systems and Computing, vol. 527, Springer Verlag, pp. 256-266, International Conference on Soft Computing Models in Industrial and Environmental Applications, SOCO 2016, International Conference on Computational Intelligence in Security for Information Systems, CISIS 2016 and International Conference on European Transnational Education, ICEUTE 2016, San Sebastian, Spain, 19/10/16. https://doi.org/10.1007/978-3-319-47364-2_25

Reliable workspace monitoring in safe human-robot environment. / Moughlbay, Amine Abou ; Herrero, Héctor ; Pacheco, Raquel et al.
International Joint Conference, SOCO 2016-CISIS 2016-ICEUTE 2016, Proceedings. ed. / Jose Manuel Lopez-Guede; Alvaro Herrero; Hector Quintian; Manuel Grana; Oier Etxaniz; Emilio Corchado. Springer Verlag, 2017. p. 256-266 (Advances in Intelligent Systems and Computing; Vol. 527).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - Reliable workspace monitoring in safe human-robot environment

AU - Moughlbay, Amine Abou

AU - Herrero, Héctor

AU - Pacheco, Raquel

AU - Outón, Jose Luis

AU - Sallé, Damien

N1 - Publisher Copyright: © Springer International Publishing AG 2017.

PY - 2017

Y1 - 2017

N2 - The implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop, .) are activated when the human-robot distance approaches predefined security thresholds.

AB - The implementation of a reliable vision system for full perception of the human-robot environment is a key issue for the flexible collaborative production industries, especially for the frequently changing applications. The use of such system facilitates the perception and recognition of the human activity, and consequently highly increases the robustness and reactivity of safety strategies in collaborative tasks. This paper presents an implementation of several techniques for workspace monitoring in collaborative human-robot applications. A reliable perception of the overall environment is performed to generate a consistent point cloud which is used for human detection and tracking. Additionally, safety strategies on the robotic system (reduced velocity, emergency stop, .) are activated when the human-robot distance approaches predefined security thresholds.

KW - Human detection

KW - Human-robot collaboration

KW - Point cloud fusion

KW - Safety strategies

KW - Workspace monitoring

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DO - 10.1007/978-3-319-47364-2_25

M3 - Conference contribution

AN - SCOPUS:84992461107

SN - 9783319473635

T3 - Advances in Intelligent Systems and Computing

SP - 256

EP - 266

BT - International Joint Conference, SOCO 2016-CISIS 2016-ICEUTE 2016, Proceedings

A2 - Lopez-Guede, Jose Manuel

A2 - Herrero, Alvaro

A2 - Quintian, Hector

A2 - Grana, Manuel

A2 - Etxaniz, Oier

A2 - Corchado, Emilio

PB - Springer Verlag

T2 - International Conference on Soft Computing Models in Industrial and Environmental Applications, SOCO 2016, International Conference on Computational Intelligence in Security for Information Systems, CISIS 2016 and International Conference on European Transnational Education, ICEUTE 2016

Y2 - 19 October 2016 through 21 October 2016

ER -

Moughlbay AA , Herrero H , Pacheco R , Outón JL , Sallé D. Reliable workspace monitoring in safe human-robot environment. In Lopez-Guede JM, Herrero A, Quintian H, Grana M, Etxaniz O, Corchado E, editors, International Joint Conference, SOCO 2016-CISIS 2016-ICEUTE 2016, Proceedings. Springer Verlag. 2017. p. 256-266. (Advances in Intelligent Systems and Computing). doi: 10.1007/978-3-319-47364-2_25

Reliable workspace monitoring in safe human-robot environment

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Keywords

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