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
UR - http://www.scopus.com/inward/record.url?scp=84992461107&partnerID=8YFLogxK
U2 - 10.1007/978-3-319-47364-2_25
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 -